000130069 001__ 130069
000130069 005__ 20241125101123.0
000130069 0247_ $$2doi$$a10.1109/LRA.2023.3316889
000130069 0248_ $$2sideral$$a136462
000130069 037__ $$aART-2023-136462
000130069 041__ $$aeng
000130069 100__ $$0(orcid)0000-0002-4556-7209$$aAranda, Miguel$$uUniversidad de Zaragoza
000130069 245__ $$aCombined leaderless control of translational, shape-preserving, and affine multirobot formations
000130069 260__ $$c2023
000130069 5060_ $$aAccess copy available to the general public$$fUnrestricted
000130069 5203_ $$aThis letter considers existing leaderless distributed controllers that achieve three types of planar multirobot formation. Concretely, these formations are equal to a reference configuration up to translation (type F1), shape-preserving transformation (type F2), and affine transformation (type F3). As contribution, we show that a linear combination of these controllers maintains their convergence properties, while also allowing specific control of the formation during the trajectory. This latter control is not possible when using the individual controllers separately, and is interesting in practical cases. As an example scenario, we study rotation-and-resizing formation maneuvers, where the goal is to achieve an F1 formation while remaining close to an F2 formation in the transient period. We show that, in this scenario, our combined controller produces trajectories approximating shortest-path shape-preserving maneuvers, which are desirable for efficiency and safety. We validate the controller in this and other scenarios using simulations and experiments with physical mobile robots.
000130069 536__ $$9info:eu-repo/grantAgreement/EUR/AEI/TED2021-130224B-I00$$9info:eu-repo/grantAgreement/ES/MICINN-AEI-FEDER/PID2021-124137OB-I00
000130069 540__ $$9info:eu-repo/semantics/openAccess$$aAll rights reserved$$uhttp://www.europeana.eu/rights/rr-f/
000130069 590__ $$a4.6$$b2023
000130069 592__ $$a2.119$$b2023
000130069 591__ $$aROBOTICS$$b12 / 46 = 0.261$$c2023$$dQ2$$eT1
000130069 593__ $$aArtificial Intelligence$$c2023$$dQ1
000130069 593__ $$aBiomedical Engineering$$c2023$$dQ1
000130069 593__ $$aComputer Science Applications$$c2023$$dQ1
000130069 593__ $$aMechanical Engineering$$c2023$$dQ1
000130069 593__ $$aControl and Optimization$$c2023$$dQ1
000130069 593__ $$aControl and Systems Engineering$$c2023$$dQ1
000130069 593__ $$aHuman-Computer Interaction$$c2023$$dQ1
000130069 593__ $$aComputer Vision and Pattern Recognition$$c2023$$dQ1
000130069 594__ $$a9.6$$b2023
000130069 655_4 $$ainfo:eu-repo/semantics/article$$vinfo:eu-repo/semantics/acceptedVersion
000130069 700__ $$0(orcid)0000-0001-9458-6257$$aAragüés, Rosario$$uUniversidad de Zaragoza
000130069 700__ $$0(orcid)0000-0001-9347-5969$$aLópez-Nicolás, Gonzalo$$uUniversidad de Zaragoza
000130069 7102_ $$15007$$2520$$aUniversidad de Zaragoza$$bDpto. Informát.Ingenie.Sistms.$$cÁrea Ingen.Sistemas y Automát.
000130069 773__ $$g8, 11 (2023), 7567-7574$$pIEEE Robot. autom. let.$$tIEEE Robotics and Automation Letters$$x2377-3766
000130069 8564_ $$s6066186$$uhttps://zaguan.unizar.es/record/130069/files/texto_completo.pdf$$yPostprint
000130069 8564_ $$s3377841$$uhttps://zaguan.unizar.es/record/130069/files/texto_completo.jpg?subformat=icon$$xicon$$yPostprint
000130069 909CO $$ooai:zaguan.unizar.es:130069$$particulos$$pdriver
000130069 951__ $$a2024-11-22-11:56:58
000130069 980__ $$aARTICLE