129807 20241125101124.0 doi 10.1109/LRA.2023.3320430 sideral 135895 ART-2023-135895 eng Herguedas, Rafael Universidad de Zaragoza (orcid)0000-0001-9642-7655 Double-Integrator Multirobot Control With Uncoupled Dynamics for Transport of Deformable Objects 2023 Access copy available to the general public Unrestricted We 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. info:eu-repo/semantics/openAccess All rights reserved http://www.europeana.eu/rights/rr-f/ 4.6 2023 ROBOTICS 12 / 46 = 0.261 2023 Q2 T1 2.119 2023 Artificial Intelligence 2023 Q1 Biomedical Engineering 2023 Q1 Computer Science Applications 2023 Q1 Mechanical Engineering 2023 Q1 Control and Optimization 2023 Q1 Control and Systems Engineering 2023 Q1 Human-Computer Interaction 2023 Q1 Computer Vision and Pattern Recognition 2023 Q1 9.6 2023 info:eu-repo/semantics/article info:eu-repo/semantics/acceptedVersion Aranda, Miguel Universidad de Zaragoza (orcid)0000-0002-4556-7209 López-Nicolás, Gonzalo Universidad de Zaragoza (orcid)0000-0001-9347-5969 Sagüés, Carlos Universidad de Zaragoza (orcid)0000-0002-3032-954X Mezouar, Youcef 5007 520 Universidad de Zaragoza Dpto. Informát.Ingenie.Sistms. Área Ingen.Sistemas y Automát. 8, 11 (2023), 7623-7630 IEEE Robot. autom. let. IEEE Robotics and Automation Letters 2377-3766 11832918 http://zaguan.unizar.es/record/129807/files/texto_completo.pdf Postprint 3668716 http://zaguan.unizar.es/record/129807/files/texto_completo.jpg?subformat=icon icon Postprint oai:zaguan.unizar.es:129807 articulos driver 2024-11-22-11:57:14 ARTICLE