000165372 001__ 165372 000165372 005__ 20260107201858.0 000165372 0247_ $$2doi$$a10.1109/LCSYS.2025.3590428 000165372 0248_ $$2sideral$$a147185 000165372 037__ $$aART-2025-147185 000165372 041__ $$aeng 000165372 100__ $$0(orcid)0000-0002-4556-7209$$aAranda, Miguel$$uUniversidad de Zaragoza 000165372 245__ $$aDistributed Control of Flexible Chained Multiagent Formations 000165372 260__ $$c2025 000165372 5060_ $$aAccess copy available to the general public$$fUnrestricted 000165372 5203_ $$aThis letter presents a novel distributed approach for the control of flexible multiagent formations. We propose a formulation based on affine formation control in which, instead of considering a single nominal configuration as in standard formulations, we consider multiple nominal configurations. This has the advantage of providing higher flexibility to adapt to different task conditions. In our approach, the agents are arranged in a chained structure; specifically, we group them in chained sets and propose a control law based on orthogonal projections defined for each of these sets. The resulting strategy is distributed, as it uses local interactions, and it can be implemented using position measurements expressed in the agents' local reference frames. We support the proposed approach via formal analysis and illustrate it with simulations 000165372 540__ $$9info:eu-repo/semantics/openAccess$$aby$$uhttps://creativecommons.org/licenses/by/4.0/deed.es 000165372 655_4 $$ainfo:eu-repo/semantics/article$$vinfo:eu-repo/semantics/publishedVersion 000165372 700__ $$0(orcid)0000-0001-5663-7033$$aCuiral-Zueco, Ignacio$$uUniversidad de Zaragoza 000165372 700__ $$0(orcid)0000-0001-9347-5969$$aLópez-Nicolás, Gonzalo$$uUniversidad de Zaragoza 000165372 7102_ $$15007$$2520$$aUniversidad de Zaragoza$$bDpto. Informát.Ingenie.Sistms.$$cÁrea Ingen.Sistemas y Automát. 000165372 7102_ $$15007$$2075$$aUniversidad de Zaragoza$$bDpto. Informát.Ingenie.Sistms.$$cÁrea Ciencia Comput.Intelig.Ar 000165372 773__ $$g9 (2025), 2018-2023$$tIEEE Control Systems Letters$$x2475-1456 000165372 8564_ $$s2069653$$uhttps://zaguan.unizar.es/record/165372/files/texto_completo.pdf$$yVersión publicada 000165372 8564_ $$s3485436$$uhttps://zaguan.unizar.es/record/165372/files/texto_completo.jpg?subformat=icon$$xicon$$yVersión publicada 000165372 909CO $$ooai:zaguan.unizar.es:165372$$particulos$$pdriver 000165372 951__ $$a2026-01-07-18:53:21 000165372 980__ $$aARTICLE