88439 20240104111812.0 doi 10.1080/00207179.2019.1605203 sideral 111498 ART-2021-111498 eng Aranda, M. Enclosing a moving target with an optimally rotated and scaled multiagent pattern 2021 Access copy available to the general public Unrestricted We 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. info:eu-repo/grantAgreement/ES/MINECO-FEDER/DPI2015-69376-R info:eu-repo/semantics/openAccess All rights reserved http://www.europeana.eu/rights/rr-f/ 2.102 2021 AUTOMATION & CONTROL SYSTEMS 45 / 65 = 0.692 2021 Q3 T3 0.928 2021 Control and Systems Engineering 2021 Q2 Computer Science Applications 2021 Q2 4.8 2021 info:eu-repo/semantics/article info:eu-repo/semantics/acceptedVersion Mezouar, Y. López-Nicolás, G. Universidad de Zaragoza (orcid)0000-0001-9347-5969 Sagüés, C. Universidad de Zaragoza (orcid)0000-0002-3032-954X 5007 520 Universidad de Zaragoza Dpto. Informát.Ingenie.Sistms. Área Ingen.Sistemas y Automát. 94, 3 (2021), 601-611 Int. j. control INTERNATIONAL JOURNAL OF CONTROL 0020-7179 793269 http://zaguan.unizar.es/record/88439/files/texto_completo.pdf Postprint 379695 http://zaguan.unizar.es/record/88439/files/texto_completo.jpg?subformat=icon icon Postprint oai:zaguan.unizar.es:88439 articulos driver 2024-01-04-11:02:39 ARTICLE