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Distributed reconfiguration of distance-based formations with virtual surface constraints

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dc.contributor.authorGuinaldo Losada, María
dc.contributor.authorSánchez Moreno, José
dc.contributor.authorS. Zaragoza
dc.contributor.authorMañas Álvarez, Francisco José
dc.coverage.spatialStockholm, Sweden
dc.coverage.temporal2024-07-24
dc.date.accessioned2024-09-11T07:52:55Z
dc.date.available2024-09-11T07:52:55Z
dc.date.issued2024
dc.description.abstractThis paper proposes a method to recover from the failure or loss of a subset of agents in a distance-based formation problem, where the system is initially deployed forming a virtual shield embedded in the 3D space. First, a distributed algorithm is proposed to restore the topology, which is a Delaunay triangulation. After that, the nodes execute a distance-based distributed control law that considers adaptive target distances. These values are computed in parallel by the nodes, which try to reach an agreement with some constraints, given by the desired shield shape. The updating policy is based on events. The results are illustrated through simulation examples.es
dc.description.versionversión final
dc.identifier.citationM. Guinaldo, J. SánchezMoreno, S. Zaragoza and F. J. Mañas-Álvarez, "Distributed Reconfiguration of Distance-Based Formations with Virtual Surface Constraints," 2024 European Control Conference (ECC), Stockholm, Sweden, 2024, pp. 442-447, doi: 10.23919/ECC64448.2024.10591270.
dc.identifier.doihttps://doi.org/10.23919/ECC64448.2024.10591270
dc.identifier.isbn978-3-9071-4410-7
dc.identifier.urihttps://hdl.handle.net/20.500.14468/23698
dc.language.isoen
dc.publisherIEEE
dc.relation.centerFacultades y escuelas
dc.relation.congress2024 European Control Conference (ECC)
dc.relation.departmentInformática y Automática
dc.rightsinfo:eu-repo/semantics/openAccess
dc.rights.urihttps://creativecommons.org/licenses/by-nc-nd/4.0/deed.es
dc.subject12 Matemáticas::1203 Ciencia de los ordenadores ::1203.17 Informática
dc.subject.keywordsthree-dimensional displaysen
dc.subject.keywordsshapeen
dc.subject.keywordsdecentralized controlen
dc.subject.keywordsEuropeen
dc.subject.keywordsaerospace electronicsen
dc.subject.keywordstopologyen
dc.subject.keywordsdistributed algorithmsen
dc.titleDistributed reconfiguration of distance-based formations with virtual surface constraintses
dc.typeactas de congresoes
dc.typeconference proceedingsen
dspace.entity.typePublication
relation.isAuthorOfPublication4e090c62-3525-41d6-a8ff-0d3f4642e5c3
relation.isAuthorOfPublicationcafb43c8-2038-4e5c-a3b3-f53b9fc7f8c1
relation.isAuthorOfPublication2562491d-2829-4a25-bb48-75bdda3d2827
relation.isAuthorOfPublication.latestForDiscovery4e090c62-3525-41d6-a8ff-0d3f4642e5c3
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