000129807 001__ 129807
000129807 005__ 20241125101124.0
000129807 0247_ $$2doi$$a10.1109/LRA.2023.3320430
000129807 0248_ $$2sideral$$a135895
000129807 037__ $$aART-2023-135895
000129807 041__ $$aeng
000129807 100__ $$0(orcid)0000-0001-9642-7655$$aHerguedas, Rafael$$uUniversidad de Zaragoza
000129807 245__ $$aDouble-Integrator Multirobot Control With Uncoupled Dynamics for Transport of Deformable Objects
000129807 260__ $$c2023
000129807 5060_ $$aAccess copy available to the general public$$fUnrestricted
000129807 5203_ $$aWe present a formation controller for a team of mobile robots, modelled with double-integrator dynamics, to manipulate deformable objects grasped around their contour. The manipulation task is defined as reaching a target configuration consisting of a desired shape, scale, position and orientation of the formation in 2D, while preserving the integrity of the object. We provide a set of controllers designed to allow the uncoupled control of the variables that define the task. The formal analysis of the controllers is covered in depth in terms of uncoupling, stability and convergence to the equilibrium state. Besides, we include control barrier functions to enforce safety constraints relevant to the task, i.e., collision and excessive stretching avoidance. The performance of the method is illustrated in simulations and in real experiments.
000129807 540__ $$9info:eu-repo/semantics/openAccess$$aAll rights reserved$$uhttp://www.europeana.eu/rights/rr-f/
000129807 590__ $$a4.6$$b2023
000129807 592__ $$a2.119$$b2023
000129807 591__ $$aROBOTICS$$b12 / 46 = 0.261$$c2023$$dQ2$$eT1
000129807 593__ $$aArtificial Intelligence$$c2023$$dQ1
000129807 593__ $$aBiomedical Engineering$$c2023$$dQ1
000129807 593__ $$aComputer Science Applications$$c2023$$dQ1
000129807 593__ $$aMechanical Engineering$$c2023$$dQ1
000129807 593__ $$aControl and Optimization$$c2023$$dQ1
000129807 593__ $$aControl and Systems Engineering$$c2023$$dQ1
000129807 593__ $$aHuman-Computer Interaction$$c2023$$dQ1
000129807 593__ $$aComputer Vision and Pattern Recognition$$c2023$$dQ1
000129807 594__ $$a9.6$$b2023
000129807 655_4 $$ainfo:eu-repo/semantics/article$$vinfo:eu-repo/semantics/acceptedVersion
000129807 700__ $$0(orcid)0000-0002-4556-7209$$aAranda, Miguel$$uUniversidad de Zaragoza
000129807 700__ $$0(orcid)0000-0001-9347-5969$$aLópez-Nicolás, Gonzalo$$uUniversidad de Zaragoza
000129807 700__ $$0(orcid)0000-0002-3032-954X$$aSagüés, Carlos$$uUniversidad de Zaragoza
000129807 700__ $$aMezouar, Youcef
000129807 7102_ $$15007$$2520$$aUniversidad de Zaragoza$$bDpto. Informát.Ingenie.Sistms.$$cÁrea Ingen.Sistemas y Automát.
000129807 773__ $$g8, 11 (2023), 7623-7630$$pIEEE Robot. autom. let.$$tIEEE Robotics and Automation Letters$$x2377-3766
000129807 8564_ $$s11832918$$uhttps://zaguan.unizar.es/record/129807/files/texto_completo.pdf$$yPostprint
000129807 8564_ $$s3668716$$uhttps://zaguan.unizar.es/record/129807/files/texto_completo.jpg?subformat=icon$$xicon$$yPostprint
000129807 909CO $$ooai:zaguan.unizar.es:129807$$particulos$$pdriver
000129807 951__ $$a2024-11-22-11:57:14
000129807 980__ $$aARTICLE