000088439 001__ 88439
000088439 005__ 20240104111812.0
000088439 0247_ $$2doi$$a10.1080/00207179.2019.1605203
000088439 0248_ $$2sideral$$a111498
000088439 037__ $$aART-2021-111498
000088439 041__ $$aeng
000088439 100__ $$aAranda, M.
000088439 245__ $$aEnclosing a moving target with an optimally rotated and scaled multiagent pattern
000088439 260__ $$c2021
000088439 5060_ $$aAccess copy available to the general public$$fUnrestricted
000088439 5203_ $$aWe propose a novel control method to enclose a moving target in a two-dimensional setting with a team of agents forming a prescribed geometric pattern. The approach optimises a measure of the overall agent motion costs, via the minimisation of a suitably defined cost function encapsulating the pattern rotation and scaling. We propose two control laws which use global information and make the agents exponentially converge to the prescribed formation with an optimal scale that remains constant, while the team's centroid tracks the target. One control law results in a multiagent pattern that keeps a constant orientation in the workspace; for the other, the pattern rotates with constant speed. These behaviours, whose optimality and steadiness are very relevant for the task addressed, occur independently from the target's velocity. Moreover, the methodology does not require distance measurements, common coordinate references, or communications. We also present formal guarantees of collision avoidance for the proposed approach. Illustrative simulation examples are provided.
000088439 536__ $$9info:eu-repo/grantAgreement/ES/MINECO-FEDER/DPI2015-69376-R
000088439 540__ $$9info:eu-repo/semantics/openAccess$$aAll rights reserved$$uhttp://www.europeana.eu/rights/rr-f/
000088439 590__ $$a2.102$$b2021
000088439 591__ $$aAUTOMATION & CONTROL SYSTEMS$$b45 / 65 = 0.692$$c2021$$dQ3$$eT3
000088439 594__ $$a4.8$$b2021
000088439 592__ $$a0.928$$b2021
000088439 593__ $$aControl and Systems Engineering$$c2021$$dQ2
000088439 593__ $$aComputer Science Applications$$c2021$$dQ2
000088439 655_4 $$ainfo:eu-repo/semantics/article$$vinfo:eu-repo/semantics/acceptedVersion
000088439 700__ $$aMezouar, Y.
000088439 700__ $$0(orcid)0000-0001-9347-5969$$aLópez-Nicolás, G.$$uUniversidad de Zaragoza
000088439 700__ $$0(orcid)0000-0002-3032-954X$$aSagüés, C.$$uUniversidad de Zaragoza
000088439 7102_ $$15007$$2520$$aUniversidad de Zaragoza$$bDpto. Informát.Ingenie.Sistms.$$cÁrea Ingen.Sistemas y Automát.
000088439 773__ $$g94, 3 (2021), 601-611$$pInt. j. control$$tINTERNATIONAL JOURNAL OF CONTROL$$x0020-7179
000088439 8564_ $$s793269$$uhttps://zaguan.unizar.es/record/88439/files/texto_completo.pdf$$yPostprint
000088439 8564_ $$s379695$$uhttps://zaguan.unizar.es/record/88439/files/texto_completo.jpg?subformat=icon$$xicon$$yPostprint
000088439 909CO $$ooai:zaguan.unizar.es:88439$$particulos$$pdriver
000088439 951__ $$a2024-01-04-11:02:39
000088439 980__ $$aARTICLE