129636 20240319081011.0 doi 10.1109/TRO.2022.3183537 sideral 130345 ART-2022-130345 eng Sebastian, Eduardo Universidad de Zaragoza (orcid)0000-0001-9671-4056 Adaptive Multirobot Implicit Control of Heterogeneous Herds 2022 Access copy available to the general public Unrestricted 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. info:eu-repo/semantics/openAccess All rights reserved http://www.europeana.eu/rights/rr-f/ 7.8 2022 ROBOTICS 7 / 30 = 0.233 2022 Q1 T1 2.716 2022 Computer Science Applications 2022 Q1 Electrical and Electronic Engineering 2022 Q1 Control and Systems Engineering 2022 Q1 12.7 2022 info:eu-repo/semantics/article info:eu-repo/semantics/acceptedVersion Montijano, Eduardo Universidad de Zaragoza (orcid)0000-0002-5176-3767 Sagüés, Carlos Universidad de Zaragoza (orcid)0000-0002-3032-954X 5007 520 Universidad de Zaragoza Dpto. Informát.Ingenie.Sistms. Área Ingen.Sistemas y Automát. 38, 6 (2022), 3622-3635 IEEE Trans. Robot. IEEE Transactions on Robotics 1552-3098 9803129 http://zaguan.unizar.es/record/129636/files/texto_completo.pdf Postprint 3373870 http://zaguan.unizar.es/record/129636/files/texto_completo.jpg?subformat=icon icon Postprint oai:zaguan.unizar.es:129636 articulos driver 2024-03-18-15:09:05 ARTICLE