000129636 001__ 129636 000129636 005__ 20240319081011.0 000129636 0247_ $$2doi$$a10.1109/TRO.2022.3183537 000129636 0248_ $$2sideral$$a130345 000129636 037__ $$aART-2022-130345 000129636 041__ $$aeng 000129636 100__ $$0(orcid)0000-0001-9671-4056$$aSebastian, Eduardo$$uUniversidad de Zaragoza 000129636 245__ $$aAdaptive Multirobot Implicit Control of Heterogeneous Herds 000129636 260__ $$c2022 000129636 5060_ $$aAccess copy available to the general public$$fUnrestricted 000129636 5203_ $$aThis 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. 000129636 540__ $$9info:eu-repo/semantics/openAccess$$aAll rights reserved$$uhttp://www.europeana.eu/rights/rr-f/ 000129636 590__ $$a7.8$$b2022 000129636 591__ $$aROBOTICS$$b7 / 30 = 0.233$$c2022$$dQ1$$eT1 000129636 592__ $$a2.716$$b2022 000129636 593__ $$aComputer Science Applications$$c2022$$dQ1 000129636 593__ $$aElectrical and Electronic Engineering$$c2022$$dQ1 000129636 593__ $$aControl and Systems Engineering$$c2022$$dQ1 000129636 594__ $$a12.7$$b2022 000129636 655_4 $$ainfo:eu-repo/semantics/article$$vinfo:eu-repo/semantics/acceptedVersion 000129636 700__ $$0(orcid)0000-0002-5176-3767$$aMontijano, Eduardo$$uUniversidad de Zaragoza 000129636 700__ $$0(orcid)0000-0002-3032-954X$$aSagüés, Carlos$$uUniversidad de Zaragoza 000129636 7102_ $$15007$$2520$$aUniversidad de Zaragoza$$bDpto. Informát.Ingenie.Sistms.$$cÁrea Ingen.Sistemas y Automát. 000129636 773__ $$g38, 6 (2022), 3622-3635$$pIEEE Trans. Robot.$$tIEEE Transactions on Robotics$$x1552-3098 000129636 8564_ $$s9803129$$uhttps://zaguan.unizar.es/record/129636/files/texto_completo.pdf$$yPostprint 000129636 8564_ $$s3373870$$uhttps://zaguan.unizar.es/record/129636/files/texto_completo.jpg?subformat=icon$$xicon$$yPostprint 000129636 909CO $$ooai:zaguan.unizar.es:129636$$particulos$$pdriver 000129636 951__ $$a2024-03-18-15:09:05 000129636 980__ $$aARTICLE