Adaptive Multirobot Implicit Control of Heterogeneous Herds

Sebastian, Eduardo (Universidad de Zaragoza) ; Montijano, Eduardo (Universidad de Zaragoza) ; Sagüés, Carlos (Universidad de Zaragoza)

Resumen: This article presents a novel control strategy to herd groups of noncooperative evaders by means of a team of robotic herders. In herding problems, the motion of the evaders is typically determined by strongly nonlinear and heterogeneous reactive dynamics, which makes the development of flexible control solutions a challenging problem. In this context, we propose Implicit Control, an approach that leverages numerical analysis theory to find suitable herding inputs even when the nonlinearities in the evaders'' dynamics yield implicit equations. The intuition behind this methodology consists in driving the input, rather than computing it, toward the unknown value that achieves the desired dynamic behavior of the herd. The same idea is exploited to develop an adaptation law, with stability guarantees, that copes with uncertainties in the herd''s models. Moreover, our solution is completed with a novel caging technique based on uncertainty models and control barrier functions, together with a distributed estimator to overcome the need of complete perfect measurements. Different simulations and experiments validate the generality and flexibility of the proposal.

Idioma: Inglés

DOI: 10.1109/TRO.2022.3183537

Año: 2022

Publicado en: IEEE Transactions on Robotics 38, 6 (2022), 3622-3635
ISSN: 1552-3098

Factor impacto JCR: 7.8 (2022)

Categ. JCR: ROBOTICS rank: 7 / 30 = 0.233 (2022) - Q1 - T1

Factor impacto CITESCORE: 12.7 - Computer Science (Q1) - Engineering (Q1)

Factor impacto SCIMAGO: 2.716 - Computer Science Applications (Q1) - Electrical and Electronic Engineering (Q1) - Control and Systems Engineering (Q1)

Tipo y forma: Artículo (PostPrint)

Área (Departamento): Área Ingen.Sistemas y Automát. (Dpto. Informát.Ingenie.Sistms.)