# Quaternions and Dual Quaternions: Singularity-Free Multirobot Formation Control

> Research article (Journal of Intelligent & Robotic Systems, 2016) · cited 14× · AI/ML

**Wikidata**: [openalex:W2559830069](https://www.wikidata.org/wiki/openalex:W2559830069)  
**Source**: https://4ort.xyz/entity/quaternions-and-dual-quaternions-singularity-free-multirobot-formation-control