000170982 001__ 170982
000170982 005__ 20260430151736.0
000170982 0247_ $$2doi$$a10.1109/LRA.2026.3682584
000170982 0248_ $$2sideral$$a149028
000170982 037__ $$aART-2026-149028
000170982 041__ $$aeng
000170982 100__ $$aChaib, Khaoula
000170982 245__ $$aSafe and Adaptive Multi-Target Encirclement With Socially Aware Multi-Robot Control
000170982 260__ $$c2026
000170982 5060_ $$aAccess copy available to the general public$$fUnrestricted
000170982 5203_ $$aThis paper addresses the problem of surrounding and tracking dynamic groups of moving targets with unknown velocities using a team of mobile robots. We introduce a control strategy for multi-robot systems that continuously maintains a safety distance between each robot and the convex hull of the target group. In particular, these safety distances are defined based on social constraints, and the proposed control strategy enforces them while simultaneously maintaining a balanced geometric distribution. The stability of the distribution is studied formally and the effectiveness of the proposed method is validated through numerical simulations and real-world tests using unicycle-model robots. The results show that the method provides suitable performance in dynamic scenarios, and it exhibits higher safety and adaptability than alternative approaches
000170982 536__ $$9info:eu-repo/grantAgreement/ES/MCIN/AEI/10.13039/501100011033
000170982 540__ $$9info:eu-repo/semantics/openAccess$$aby$$uhttps://creativecommons.org/licenses/by/4.0/deed.es
000170982 655_4 $$ainfo:eu-repo/semantics/article$$vinfo:eu-repo/semantics/publishedVersion
000170982 700__ $$aAlkhatib, Mohammad
000170982 700__ $$aAchour, Nouara
000170982 700__ $$0(orcid)0000-0002-4556-7209$$aAranda, Miguel$$uUniversidad de Zaragoza
000170982 700__ $$aLequievre, Laurent
000170982 700__ $$aMezouar, Youcef
000170982 700__ $$aHamerlain, Mustapha
000170982 7102_ $$15007$$2520$$aUniversidad de Zaragoza$$bDpto. Informát.Ingenie.Sistms.$$cÁrea Ingen.Sistemas y Automát.
000170982 773__ $$g11, 6 (2026), 6608-6615$$pIEEE Robot. autom. let.$$tIEEE Robotics and Automation Letters$$x2377-3766
000170982 8564_ $$s5574985$$uhttps://zaguan.unizar.es/record/170982/files/texto_completo.pdf$$yVersión publicada
000170982 8564_ $$s3533570$$uhttps://zaguan.unizar.es/record/170982/files/texto_completo.jpg?subformat=icon$$xicon$$yVersión publicada
000170982 909CO $$ooai:zaguan.unizar.es:170982$$particulos$$pdriver
000170982 951__ $$a2026-04-30-13:58:24
000170982 980__ $$aARTICLE