130069 20241125101123.0 doi 10.1109/LRA.2023.3316889 sideral 136462 ART-2023-136462 eng Aranda, Miguel Universidad de Zaragoza (orcid)0000-0002-4556-7209 Combined leaderless control of translational, shape-preserving, and affine multirobot formations 2023 Access copy available to the general public Unrestricted This 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. info:eu-repo/grantAgreement/EUR/AEI/TED2021-130224B-I00 info:eu-repo/grantAgreement/ES/MICINN-AEI-FEDER/PID2021-124137OB-I00 info:eu-repo/semantics/openAccess All rights reserved http://www.europeana.eu/rights/rr-f/ 4.6 2023 ROBOTICS 12 / 46 = 0.261 2023 Q2 T1 2.119 2023 Artificial Intelligence 2023 Q1 Biomedical Engineering 2023 Q1 Computer Science Applications 2023 Q1 Mechanical Engineering 2023 Q1 Control and Optimization 2023 Q1 Control and Systems Engineering 2023 Q1 Human-Computer Interaction 2023 Q1 Computer Vision and Pattern Recognition 2023 Q1 9.6 2023 info:eu-repo/semantics/article info:eu-repo/semantics/acceptedVersion Aragüés, Rosario Universidad de Zaragoza (orcid)0000-0001-9458-6257 López-Nicolás, Gonzalo Universidad de Zaragoza (orcid)0000-0001-9347-5969 5007 520 Universidad de Zaragoza Dpto. Informát.Ingenie.Sistms. Área Ingen.Sistemas y Automát. 8, 11 (2023), 7567-7574 IEEE Robot. autom. let. IEEE Robotics and Automation Letters 2377-3766 6066186 http://zaguan.unizar.es/record/130069/files/texto_completo.pdf Postprint 3377841 http://zaguan.unizar.es/record/130069/files/texto_completo.jpg?subformat=icon icon Postprint oai:zaguan.unizar.es:130069 articulos driver 2024-11-22-11:56:58 ARTICLE