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Open AccessArticle

Multirobot Heterogeneous Control Considering Secondary Objectives

Universidad de las Fuerzas Armadas – ESPE, 171103 Sangolquí, Ecuador
Escuela Politécnica Superior, Universidad Autónoma de Madrid, 28049 Madrid, Spain
Author to whom correspondence should be addressed.
Sensors 2019, 19(20), 4367;
Received: 30 August 2019 / Revised: 3 October 2019 / Accepted: 7 October 2019 / Published: 9 October 2019
(This article belongs to the Special Issue Mobile Robot Navigation)
Cooperative robotics has considered tasks that are executed frequently, maintaining the shape and orientation of robotic systems when they fulfill a common objective, without taking advantage of the redundancy that the robotic group could present. This paper presents a proposal for controlling a group of terrestrial robots with heterogeneous characteristics, considering primary and secondary tasks thus that the group complies with the following of a path while modifying its shape and orientation at any time. The development of the proposal is achieved through the use of controllers based on linear algebra, propounding a low computational cost and high scalability algorithm. Likewise, the stability of the controller is analyzed to know the required features that have to be met by the control constants, that is, the correct values. Finally, experimental results are shown with different configurations and heterogeneous robots, where the graphics corroborate the expected operation of the proposal.
Keywords: heterogeneous robots; control based on linear algebra; cooperative control; control considering secondary objectives. heterogeneous robots; control based on linear algebra; cooperative control; control considering secondary objectives.
MDPI and ACS Style

Acosta, J.F.; Rivera, G.G.; Andaluz, V.H.; Garrido, J. Multirobot Heterogeneous Control Considering Secondary Objectives. Sensors 2019, 19, 4367.

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