000135142 001__ 135142 000135142 005__ 20240516095249.0 000135142 0247_ $$2doi$$a10.1109/LRA.2024.3396643 000135142 0248_ $$2sideral$$a138561 000135142 037__ $$aART-2024-138561 000135142 041__ $$aeng 000135142 100__ $$0(orcid)0000-0002-4556-7209$$aAranda, Miguel$$uUniversidad de Zaragoza 000135142 245__ $$aAffine Multirobot Formation Control Based on a Modular Team Structure 000135142 260__ $$c2024 000135142 5060_ $$aAccess copy available to the general public$$fUnrestricted 000135142 5203_ $$aWe present a leaderless distributed controller for driving a multirobot team in a planar workspace toward an affine formation, i.e., an affine transformation of a nominal configuration. Our central idea is to organize the team in interlaced modules. Specifically, we define a module as a group of four robots, and we consider two given modules interlaced if they have three robots in common. For each module we define a cost, based on least-squares affine alignment between the positions of the four robots in the current and nominal configurations. Our strategy for formation achievement is to make the robots descend along the gradient of the sum of module costs. Based on this strategy, we propose a distributed control law considering the single-integrator dynamic model. Our main contribution is that the proposed modular approach allows design and reconfiguration to be done locally, i.e., involving only the robots that belong to the modules being designed or reconfigured. We present a formal stability study and an implementation algorithm. To motivate the practical interest of the proposed approach, we illustrate its usage in a multitarget enclosing and tracking scenario. The approach is experimentally validated using simulations and tests with physical unicycle robots. 000135142 540__ $$9info:eu-repo/semantics/openAccess$$aAll rights reserved$$uhttp://www.europeana.eu/rights/rr-f/ 000135142 655_4 $$ainfo:eu-repo/semantics/article$$vinfo:eu-repo/semantics/acceptedVersion 000135142 700__ $$0(orcid)0000-0002-8949-2632$$aPerez-Yus, Alejandro$$uUniversidad de Zaragoza 000135142 7102_ $$15007$$2520$$aUniversidad de Zaragoza$$bDpto. Informát.Ingenie.Sistms.$$cÁrea Ingen.Sistemas y Automát. 000135142 773__ $$g9, 6 (2024), 5807-5814$$pIEEE Robot. autom. let.$$tIEEE Robotics and Automation Letters$$x2377-3766 000135142 8564_ $$s1443867$$uhttps://zaguan.unizar.es/record/135142/files/texto_completo.pdf$$yPostprint 000135142 8564_ $$s3568077$$uhttps://zaguan.unizar.es/record/135142/files/texto_completo.jpg?subformat=icon$$xicon$$yPostprint 000135142 909CO $$ooai:zaguan.unizar.es:135142$$particulos$$pdriver 000135142 951__ $$a2024-05-16-08:52:52 000135142 980__ $$aARTICLE