170982 20260430151736.0 doi 10.1109/LRA.2026.3682584 sideral 149028 ART-2026-149028 eng Chaib, Khaoula Safe and Adaptive Multi-Target Encirclement With Socially Aware Multi-Robot Control 2026 This 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 Access copy available to the general public Unrestricted info:eu-repo/grantAgreement/ES/MCIN/AEI/10.13039/501100011033 info:eu-repo/semantics/openAccess by https://creativecommons.org/licenses/by/4.0/deed.es info:eu-repo/semantics/article info:eu-repo/semantics/publishedVersion Alkhatib, Mohammad Achour, Nouara Aranda, Miguel Universidad de Zaragoza (orcid)0000-0002-4556-7209 Lequievre, Laurent Mezouar, Youcef Hamerlain, Mustapha 5007 520 Universidad de Zaragoza Dpto. Informát.Ingenie.Sistms. Área Ingen.Sistemas y Automát. 11, 6 (2026), 6608-6615 IEEE Robot. autom. let. IEEE Robotics and Automation Letters 2377-3766 5574985 http://zaguan.unizar.es/record/170982/files/texto_completo.pdf Versión publicada 3533570 http://zaguan.unizar.es/record/170982/files/texto_completo.jpg?subformat=icon icon Versión publicada oai:zaguan.unizar.es:170982 articulos driver 2026-04-30-13:58:24 ARTICLE