Artículos (Ingeniería de Sistemas y Automática)

URI permanente para esta colecciónhttps://hdl.handle.net/11441/11342

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Mostrando 1 - 20 de 507

Active Network Management via grid-friendly electromobility control for curtailment minimization
(Elsevier, 2025) Čičić, Mladen; Vivas Venegas, Carlos; Canudas-de-Wit, Carlos; Rodríguez Rubio, Francisco; Universidad de Sevilla. Departamento de Ingeniería de Sistemas y Automática; European Research Council (ERC); Ministerio de Ciencia e Innovación (MICIN). España
We propose an integrated power and transportation system control framework, combining the power grid model with a macroscopic electromobility model including charging stations under V2G operation. In this framework, the electrical vehicles (EVs) act as energy storage, but also as additional virtual power grid links, transporting energy from one point to another. This new holistic approach is used as a basis for optimal control design seeking to provide Active Network Management, in order to minimize curtailment of renewable energy sources and loads at various ports of the network, while accounting for the structural limitation of the grid and other constraints necessary for the optimal operation of the EVs. The proposed control scheme is shown to be able to outperform uncoordinated EV charging in terms of total curtailment in various studied scenarios. Additionally, we study the case when public charging stations are able to incentivize or disincentivise EVs to use them, by dynamically varying their charging price throughout the day, and show that this additional control input can further reduce curtailment in certain scenarios.
Three-time-scale control for discharging rate consensus and large-signal stability analysis in AC-bus microgrids
(Elsevier, 2025-06) Merchán-Riveros, María Camila; Albea-Sánchez, Carolina; Salas Gómez, Francisco; Universidad de Sevilla. Departamento de Ingeniería de Sistemas y Automática; Agencia Estatal de Investigación. España; Ministerio de Ciencia e Innovación (MICIN). España; Universidad de Sevilla. TEP102: Ingeniería Automática y Robótica
A distributed control scheme for islanded AC-bus microgrids is proposed, based on multi-agent system and singular perturbation theory. The goal is to achieve a balanced State Of Charge (SOC) for each Battery Energy Storage System (BESS) in discharging mode, ensuring stability properties of a large-signal model that considers the primary and secondary control loop dynamics. The power inverters are controlled through a voltage and current loop. Moreover, a droop control and consensus algorithm are proposed to ensure that the SOC of these BESSs are balanced. Furthermore, large-signal stability analysis is assessed for the complete network system by using singular perturbation theory. Indeed, through an appropriate selection of the parameters, the dynamics exhibit three-time-scale separation to fit each control goal (power converter control, droop control and consensus control). Experimental results on an Imperix power test bench validate the proposed control scheme, and verify the reliability and robustness with respect to any connection/disconnection event or communication failure through different scenarios.
Data-Driven Control Design for Power Converters Approximated as Switched Affine Systems and Experimental Validation
(IEEE, 2024) Merchán-Riveros, María Camila; Albea-Sánchez, Carolina; Seuret, Alexandre; Universidad de Sevilla. Departamento de Ingeniería de Sistemas y Automática; Agencia Estatal de Investigación. España; Universidad de Sevilla. TEP102: Ingeniería Automática y Robótica
This brief introduces a data-driven control design approach for power converters modelled as a switched affine system, that guarantees the global stability. Unlike many existing approaches, our contribution does not require a precise identification of a nonlinear model but it rather relies on prior random experimental data, which allows the design of a stabilizing control law in a direct manner. The proposed method is then evaluated on an Imperix power test bench. The experimental results not only confirm the viability of the data-driven approach for nonlinear systems but also demonstrate its applicability in real-world scenarios.
Hybrid Dynamical Control for Discharging Rate Consensus in AC-Bus Microgrids
(IEEE, 2023) Merchán-Riveros, María Camila; Albea-Sánchez, Carolina; Universidad de Sevilla. Departamento de Ingeniería de Sistemas y Automática; Ministerio de Ciencia e Innovación (MICIN). España; Agencia Estatal de Investigación. España; Agence Nationale de la Recherche. France; Junta de Andalucía; Universidad de Sevilla. TEP102: Ingeniería Automática y Robótica
In this letter, a robust distributed hybrid algorithm is proposed for the primary and secondary control loops of an island AC-bus microgrid to provide large-signal stability of the complete system. A secondary control loop is designed from droop control and multi-agent systems theory to ensure that the State Of Charge (SOC) of the batteries in discharging mode converges to a consensus. Furthermore, this distributed strategy ensures robustness with respect to any plug-and-play event or communication failure. The DC-AC power converter of each battery in discharging mode is controlled in the primary loop by using hybrid dynamical system theory, which considers non-trivial issues in the model (switching and affine terms) and in the signals (constraints in the dwell time). A suited selection of gains allows using singular perturbation analysis to provide large-signal stability properties for the complete nonlinear model.
Three Time-Scale Singular Perturbation Hybrid Control and Large-Signal Analysis Stability in AC-Microgrids
(IEEE, 2023-08) Merchán-Riveros, María Camila; Albea-Sánchez, Carolina; Universidad de Sevilla. Departamento de Ingeniería de Sistemas y Automática; Ministerio de Ciencia e Innovación (MICIN). España; Agencia Estatal de Investigación. España; Agence Nationale de la Recherche. France; Universidad de Sevilla. TEP102: Ingeniería Automática y Robótica
This work is devoted to propose a distributed control hybrid algorithm for the primary and secondary control loops of AC-bus microgrids in islanded mode and to provide a large-signal stability. A primary control loop based on Hybrid Dynamical System (HDS) theory manages the DC/AC inverters considering structural non-linearities in the model (affine terms and hybrid dynamics of their signals) and implementation constraints (dwell-time) and ensures the robustness of the output voltage with respect to any model variation. Moreover, the secondary control loop is designed based on the droop concept, which ensures that SOCs, reactive and active powers converge to their reference values, and on Multi-Agent System (MAS) theory to get a consensus among the reactive power and the State Of Charge (SOC) of the batteries in discharging mode. Moreover, it guarantees reliability and robustness with respect to any disconnection. The tuned system parameters are chosen in order to fit a three-time scale model (a time scale for each control objective: power converter control, droop control and consensus controls), which allows providing a large-signal stability analysis for the complete hybrid system based on HDS, MAS and singular perturbation theory.
Gestión óptima en microrredes con soporte fotovoltaico e hidrógeno verde
(Comité Español de Automática, 2025) Moliner Heredia, Rubén; Vivas Venegas, Carlos; Rodríguez Rubio, Francisco; Universidad de Sevilla. Departamento de Tecnología Electrónica; Universidad de Sevilla. Departamento de Ingeniería de Sistemas y Automática; Agencia Estatal de Investigación. España
La gestión de la energía es esencial para un correcto control de una microrred. Es importante que dicha gestión tenga en cuenta la optimización de la vida útil de los componentes de la microrred. Uno de los posibles comportamientos que se desean evitar es el apagado y encendido continuo de determinados componentes, tales como las celdas de combustible y los electrolizadores. En este artículo se ha propuesto un algoritmo usando control predictivo basado en modelo (MPC) utilizando diversas restricciones de tiempos mínimos de activación de dichos componentes para evitar efectos perjudiciales sobre los equipos de hidrógeno verde. Además, se ha propuesto un método de transmisión entre iteraciones del algoritmo para que la aplicación de dichas restricciones sea compatible con errores en las predicciones del algoritmo y de perturbaciones en el sistema. Para validar el algoritmo propuesto, se ha desarrollado un modelo simplificado de la microrred, y se han realizado simulaciones y comparaciones con varios algoritmos utilizando Matlab.
Integración de tecnologías Blockchain en un esquema de control predictivo distribuido y jerárquico para comunidades energéticas
(Universidad Politécnica de Valencia, 2025) Sivianes Castaño, Manuel; Velarde Rueda, Pablo; Zafra Cabeza, Ascensión; Bordons Alba, Carlos; Universidad de Sevilla. Departamento de Ingeniería de Sistemas y Automática; Agencia Estatal de Investigación. España; Universidad de Sevilla. TEP116: Automática y Robótica Industrial
En este estudio se introduce una plataforma de gestión energética jerárquica que incorpora la tecnología blockchain para eliminar la dependencia de un coordinador centralizado. La plataforma está diseñada para operar en comunidades energéticas afectadas por incertidumbres estocásticas. La estrategia se divide en dos niveles: en el nivel superior, donde se resuelve un problema de optimización de control predictivo distribuido estocástico, en el que todos los hogares de la comunidad participan para determinar las acciones de control de manera horaria. En este nivel, se utiliza un contrato inteligente como intermediario entre los hogares, encargado de realizar tareas de control e intercambio de información. Por otro lado, en el nivel inferior, cada hogar resuelve de manera local e independiente un problema de optimización de control predictivo para seguir las referencias establecidas después del consenso alcanzado por la capa superior, a una frecuencia significativamente mayor. La validez de esta plataforma para optimizar el funcionamiento económico de la comunidad y cumplir con las restricciones probabilísticas se ha validado con diferentes simulaciones.
Door-to-Door Parcel Delivery From Supply Point to User’s Home With Heterogeneous Robot Team: The euROBIN First-Year Robotics Hackathon
(Institute of Electrical and Electronics Engineers Inc.(IEEE), 2024) Suárez Fernández-Miranda, Alejandro; Kartmann, Rainer; Leidner, Daniel; Rossini, Luca; Huber, Johann; Azevedo, Carlos; González Morgado, Antonio; Pérez Sánchez, Vicente; Arrue Ullés, Begoña C.; Ollero Baturone, Aníbal; Universidad de Sevilla. Departamento de Ingeniería de Sistemas y Automática; European Commission (EC); Universidad de Sevilla. TEP151: Robótica, Visión y Control
Logistics and service operations involving parcel preparation, delivery, and unpacking from a supply point to a user's home could be carried out completely by robots in the near future, taking advantage of the capabilities of the different robot morphologies for the logistics, outdoor, and domestic environments. The use of robots for parcel delivery can contribute to the goals of sustainability and reduced emissions by exploiting their different locomotion modalities (wheeled, legged, and aerial). This article reports the development and results obtained from the first robotics hackathon celebrated as part of the European Robotics and Artificial Intelligence Network involving eight robotic platforms in three domains: 1) an industrial robotic arm for parcel preparation at the supply point, 2) a Centauro robot, a dual-arm aerial manipulator, and a wheeled-legged quadruped for parcel transportation, and 3) two humanoid robots and two commercial mobile manipulators for parcel delivery and unpacking in domestic scenarios. The article describes the joint operation and the evaluation scenario, the features and capabilities of the robots, particularly those involved in the realization of the tasks, and the lessons learned.
Software Integration of Power System Measurement Devices with AI Capabilities
(MDPI, 2025-01) Arenas Ramos, Victoria; Cuesta Rojo, Federico; Pallares López, Víctor; Santiago Chiquero, Isabel; Universidad de Sevilla. Departamento de Ingeniería de Sistemas y Automática; Agencia Estatal de Investigación. España
The latest changes on the distribution network due to the presence of distributed energy resources (DERs) and electric vehicles make it necessary to monitor the grid using a real-time high-precision system. The present work centers on the development of an open-source software platform that allows for the joint management of, at least, power quality monitors (PQMs), phasor measurement units (PMUs), and smart meters (SMs), which are three of the most widespread devices on distribution networks. This framework could work remotely while allowing access to the measurements in a comfortable way for grid analysis, prediction, or control tasks. The platform must meet the requirements of synchronism and scalability needed when working with electrical monitoring devices while considering the large volumes of data that these devices generate. The framework has been experimentally validated in laboratory and field tests in two photovoltaic plants. Moreover, real-time Artificial Intelligence capabilities have been validated by implementing three Machine Learning classifiers (Neural Network, Decision Tree, and Random Forest) to distinguish between three different loads in real time.
Advanced Distributed Control of Parallel Resonant CLLC DAB Converters
(MDPI, 2025) Carmona Vicente, David; Muñoz Carrero, Alba; Galván Díez, Eduardo; Carrasco Solís, Juan Manuel; Rodríguez Rubio, Francisco; Universidad de Sevilla. Departamento de Ingeniería Eléctrica; Universidad de Sevilla. Departamento de Ingeniería Electrónica; Universidad de Sevilla. Departamento de Ingeniería de Sistemas y Automática; Agencia Estatal de Investigación. España; European Union (UE)
The integration of hybrid alternating current (AC) and direct current (DC) networks has gained relevance due to the growing demand for more flexible, efficient, and reliable electrical systems. A key aspect of this integration is the parallelization of power converters, which presents several technical challenges, such as current sharing imbalances, circulating currents, and control complexity. This paper proposes a distributed control architecture for parallel resonant CLLC dual active bridge (DAB) converters to address these issues in hybrid AC–DC networks and microgrids. The approach includes a master voltage controller to regulate the output voltage and distributed local current controllers to ensure load balance. The approach minimizes the difference between the output and input voltages, allowing for independent control of power flow. Simulation and experimental results show significant improvements. The system stability has been demonstrated experimentally. Transient response has been improved with response time 80% lower using the feed-forward term. The system maintained stability with current sharing deviations below 3% under full and low load conditions. Finally, scalability is ensured by the proposed distributed controller because the central power controller is not affected by the number of units in parallel used in the application. This solution is suitable for advanced hybrid networks and microgrid applications.
Review of Fast Computation Methods for Finite-State Predictive Control of Multi-Phase Drives
(Multidisciplinary Digital Publishing Institute (MDPI), 2024-12) Marsal Pedernazi, Esteban; Arahal, Manuel R.; Garrido Satué, Manuel; Perales Esteve, Manuel Ángel; Universidad de Sevilla. Departamento de Ingeniería de Sistemas y Automática; Universidad de Sevilla. Departamento de Ingeniería Electrónica; Ministerio de Ciencia, Innovación y Universidades (MICIU). España; Universidad de Sevilla. TIC275: Investigación y Desarrollo en Electrónica, Automática y Tecnologías Emergentes; Universidad de Sevilla. TEP203: Física Interdisciplinar Fundamentos y Aplicaciones
Optimizing the cost function in predictive control of multi-phase drives is computationally intensive. This poses a challenge since the required sampling period for drives falls within the microsecond range. Numerous methods have been proposed in the literature to address this computational demand. This paper reviews recent proposals for multi-phase drives of various kinds. A structured classification of the proposals is provided. Furthermore, an integrated framework is employed to cohesively present and connect previously unrelated methods. Key elements such as Allowed Control Set, inter-sample modulation, and weighting factor use are identified. New developments in multi-vector and single-vector approaches are discussed. Practical limitations for each approach are also considered.
Ensemble speed estimation in IFOC with transient detector
(Wiley, 2025) Arahal, Manuel R.; Garrido Satué, Manuel; Martínez Heredia, Juana María; Perales Esteve, Manuel Ángel; Universidad de Sevilla. Departamento de Ingeniería Electrónica; Universidad de Sevilla. Departamento de Ingeniería de Sistemas y Automática; Agencia Estatal de Investigación. España
Rotating electric machines have experienced a vast increase in use in recent times due to the electrification of various segments, including electric vehicles. Different machine types, electronic converters, and control schemes are used. In particular, the combination of indirect field oriented control (IFOC) with incremental encoders is widely utilized. Despite theoretical efforts, practical tuning of IFOC-like structures is not easy due to non-idealities. These arise from difficult to model phenomena appearing in the system. In particular, the latency and phase loss of the speed estimation have a negative effect on performance. This paper proposes the use of an ensemble of speed estimators to reduce these negative effects. In the proposal, ripples and latency of the speed estimations are treated as terms in a tradeoff situation. The proposal allows to obtain low ripple in a steady state combined with low latency during transients.
Concurrent AI Tuning of a Double-Loop Controller for Multi-Phase Drives
(MDPI, 2024) Garrido Satué, Manuel; Barrero, Federico; Martínez Heredia, Juana María; Colodro Ruiz, Francisco; Universidad de Sevilla. Departamento de Ingeniería Electrónica; Universidad de Sevilla. Departamento de Ingeniería de Sistemas y Automática; Agencia Estatal de Investigación. España
The control of electric drives is an important topic due to the wide-spread use of such devices. Among these, multi-phase induction machines are gaining momentum in variable-speed applications. The usual control practice is the use of a speed Proportional–Integral loop that sets the current reference for an inner controller. This inner controller decides the voltage to be applied, which is realized by an electronic power converter. This paper presents an Artificial Intelligence (AI) scheme for tuning. It aims to optimize the usual figures of merit for drives. Moreover, tuning for both loops is tackled concurrently. The adjustment is performed relying on the operating region to address non-linear behavior. The results obtained using a five-phase induction motor illustrate that the proposed method can work in the entire operating range of the drive with improved results.
A Long-Range and Low-Cost Emergency Radio Beacon for Small Drones
(MDPI, 2024) Martínez Heredia, Juana María; Olivera, Jorge; Colodro Ruiz, Francisco; Bravo, Manuel; Arahal, Manuel R.; Universidad de Sevilla. Departamento de Ingeniería Electrónica; Universidad de Sevilla. Departamento de Ingeniería de Sistemas y Automática; Ministerio de Ciencia e Innovación (MICIN). España
The increasing use of unmanned aerial vehicles (UAVs) in the commercial and recreational sectors has led to a heightened demand for effective recovery solutions after a crash, particularly for lightweight drones. This paper presents the development of a long-range and low-cost emergency radio beacon designed specifically for small UAVs. Unlike traditional emergency locator transmitters (ELTs), our proposed beacon addresses the unique needs of UAVs by reducing size, weight, and cost, while maximizing range and power efficiency. The device utilizes a global system for mobile (GSM)-based communication module to transmit location data via short message service (SMS), eliminating the need for specialized receivers and expanding the operational range even in obstaclerich environments. Additionally, a built-in global navigation satellite system (GNSS) receiver provides precise coordinates, activated only upon impact detection through an accelerometer, thereby saving power during normal operations. Experimental tests confirm the extended range, high precision, and compatibility of the prototype with common mobile networks. Cost-effective and easy to use, this beacon improves UAV recovery efforts by providing reliable localization data to users in real time, thus safeguarding the UAV investment.
An Improved Speed Sensing Method for Drive Control
(MDPI, 2025) Arahal, Manuel R.; Garrido Satué, Manuel; Martínez Heredia, Juana María; Colodro Ruiz, Francisco; Universidad de Sevilla. Departamento de Ingeniería Electrónica; Universidad de Sevilla. Departamento de Ingeniería de Sistemas y Automática; Agencia Estatal de Investigación. España; European Commission (EC). Fondo Europeo de Desarrollo Regional (FEDER)
Variable-speed electrical drive control typically relies upon a two-loop scheme, one for torque/speed and another for stator current control. In modern drive control methods, the actual mechanical speed is needed for both loops. In practical applications, the speed is often acquired by incremental rotary encoders. The most used method derives speed from an encoder pulse count during a fixed amount of time. It is known that this sensing method produces time delay in the speed feedback loop as well as fluctuations in the speed measurements. Time lags produce phase loss that has potentially negative effects on the overall drive performance. Nevertheless, the pulse counting method is favored in most cases due to its simplicity and existing support for its use in digital signal processors. In this paper, a new speed sensing method is proposed to reduce time lag without incurring increased fluctuations. The proposal uses a novel transient detector to determine the actual operational regime of the drive: transient or stationary. Transient detection is not based on measured speeds but works directly with the train of incoming encoder pulses. The method is designed to work well with established digital signal processor routines. The proposal is assessed through experimentation on a real five-phase induction motor.
Physical-Virtual Impedance Control in Ultralightweight and Compliant Dual-Arm Aerial Manipulators
(IEEE, 2018-02-26) Suárez Fernández-Miranda, Alejandro; Heredia Benot, Guillermo; Ollero Baturone, Aníbal; Universidad de Sevilla. Departamento de Ingeniería de Sistemas y Automática; European Commission (EC); Ministerio de Economía y Competitividad (MINECO). España; Ministerio de Educación, Cultura y Deporte (MECD). España; Universidad de Sevilla. TEP151: Robótica, Visión y Control
Dual-arm aerial manipulation requires the design and development of high performance robotic arms in terms of safety, robustness, and force/torque/impedance control, taking into account the integration in the aerial platform, the strong weight constraints, and the technological limitations of the servo actuators. A compliant joint arm also improves the response of the aerial manipulator to collisions and external forces during the flight operation. This letter evaluates the control capabilities in a lightweight manipulator built with smart servo actuators and a spring-lever transmission mechanism that provides joint compliance and deflection measurement. The dynamic model of a compliant joint is validated through frequency identification, demonstrating how virtual variable impedance can be achieved without a second motor. Mechanical joint compliance is the base of the Cartesian impedance control scheme of the dual-arm system, integrated with the controller of the aerial platform. A stereo vision system provides the Cartesian deflection of the end effector, derived from the definition of an equivalent stiff joint manipulator, allowing the estimation and control of the contact forces. Experimental results validate the developed concepts.
Coalitional model predictive control of an irrigation canal
(Elsevier, 2014-04) Fele, Filiberto; Maestre Torreblanca, José María; Hashemy, S. Mehdy; Muñoz de la Peña Sequedo, David; Camacho, Eduardo F.; Universidad de Sevilla. Departamento de Ingeniería de Sistemas y Automática; European Union (UE); Ministerio de Educación y Cultura (MEC). España
We present a hierarchical control scheme for large-scale systems whose components can exchange information through a data network. The main goal of the supervisory layer is to find the best compromise between control performance and communicational costs by actively modifying the network topology. The actions taken at the supervisory layer alter the control agents’ knowledge of the complete system, and the set of agents with which they can communicate. Each group of linked subsystems, or coalition, is independently controlled through a decentralized model predictive control (MPC) scheme, managed at the bottom layer. Hard constraints on the inputs are imposed, while soft constraints on the states are considered to avoid feasibility issues. The performance of the proposed control scheme is validated on a model of the Dez irrigation canal, implemented on the accurate simulator for water systems SOBEK. Finally, the results are compared with those obtained using a centralized MPC controller.
Coalitional Control: Cooperative Game Theory and Control
(IEEE, 2017-02) Fele, Filiberto; Maestre Torreblanca, José María; Camacho, Eduardo F.; Universidad de Sevilla. Departamento de Ingeniería de Sistemas y Automática
The evolution of information and communication technologies has yielded the means of sharing measurements and other information in an efficient and flexible way [1], which has enabled the size and complexity of control applications to increase [2]. At the same time, the improvements in the computational and communicational capabilities of control devices have fostered the development of noncentralized control architectures, already motivated by the inherent structural constraints of large-scale systems. Computer-based control approaches such as model predictive control (MPC) are visible beneficiaries of these advances and have registered a significant growth regarding both theoretical and applied fields [3], [4].
Distributed Thermal Identification and Exploitation for Multiple Soaring UAVs
(Springer, 2014-11) Cobano Suárez, José Antonio; Alejo, David; Vera, Santiago; Heredia Benot, Guillermo; Sukkarieh, Salah; Ollero Baturone, Aníbal; Universidad de Sevilla. Departamento de Ingeniería de Sistemas y Automática; Spagnolo, P.; Mazzeo, P.; Distante, C.; European Commission (EC); Ministerio de Ciencia e Innovación (MICIN). España; Ministerio de Educación, Cultura y Deporte (MECD). España
This chapter discusses the problem of cooperatively sensing the wind map of an area in order to efficiently harvest the wind energy with fixed-wing gliding UAVs, known as soaring. Moreover, a cooperative system with multiple gliding fixed-wing UAVs is presented for long endurance missions. This system is composed by three main blocks that include thermal detector, path planning, and collision avoidance. The main advantage is its low computational load, making it suitable for real-time applications. Extensive simulation results in several scenarios are given to test the complete system. In addition, real experiments have been carried out with real gliding aircrafts of the Robotics Vision and Control Group (GRVC) of the University of Sevilla in the Airfield of La Cartuja (Sevilla). The results of these experiments show the convenience of the proposed method.
Collision-free path planning for multiple robots using efficient turn-angle assignment
(Elsevier, 2024-07) Rodríguez Sánchez, Fabio; Díaz Báñez, José Miguel; Fabila Monroy, Ruy; Caraballo de la Cruz, Luis Evaristo; Capitán Fernández, Jesús; Universidad de Sevilla. Departamento de Ingeniería de Sistemas y Automática; Ministerio de Ciencia e Innovación (MICIN). España; Agencia Estatal de Investigación. España; European Union NextGeneration; Universidad de Sevilla. TEP995: Multi-robot And Control Systems
The ability to avoid collisions with moving robots is critical in many applications. Moreover, if the robots have limited battery life, the goal is not only to avoid collisions but also to design efficient trajectories in terms of energy consumption and total mission time. This paper proposes a novel strategy for assigning turn angles for collision-free path planning in scenarios where a small team of robots cooperate in a certain mission. The algorithm allows each robot to reach a predetermined destination safely. It establishes consecutive, short time intervals, and at each interval, possible conflicts are solved centrally in an optimal manner. This is done by keeping constant speeds but generating a discrete set of possible directions for each robot, and solving efficiently the turn-angle allocation for a collision-free path that minimizes the path deviation from the shortest one. Due to the discretization, the final paths are not optimal, but the system can react to possible failures during execution, as conflicts are resolved at each time interval. Computational results and Software-In-The-Loop simulations are presented in order to evaluate the proposed algorithm. A comparison with a state-of-the-art approach shows that our algorithm is more energy-efficient and achieves lower mission completion time.

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