Double-Integrator Multirobot Control With Uncoupled Dynamics for Transport of Deformable Objects

Herguedas, Rafael (Universidad de Zaragoza) ; Aranda, Miguel (Universidad de Zaragoza) ; López-Nicolás, Gonzalo (Universidad de Zaragoza) ; Sagüés, Carlos (Universidad de Zaragoza) ; Mezouar, Youcef

Resumen: 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.

Idioma: Inglés

DOI: 10.1109/LRA.2023.3320430

Año: 2023

Publicado en: IEEE Robotics and Automation Letters 8, 11 (2023), 7623-7630
ISSN: 2377-3766

Factor impacto JCR: 4.6 (2023)

Categ. JCR: ROBOTICS rank: 12 / 46 = 0.261 (2023) - Q2 - T1

Factor impacto CITESCORE: 9.6 - Computer Science Applications (Q1) - Control and Systems Engineering (Q1) - Artificial Intelligence (Q1) - Mechanical Engineering (Q1) - Biomedical Engineering (Q1) - Computer Vision and Pattern Recognition (Q1) - Human-Computer Interaction (Q1) - Control and Optimization (Q1)

Factor impacto SCIMAGO: 2.119 - Artificial Intelligence (Q1) - Biomedical Engineering (Q1) - Computer Science Applications (Q1) - Mechanical Engineering (Q1) - Control and Optimization (Q1) - Control and Systems Engineering (Q1) - Human-Computer Interaction (Q1) - Computer Vision and Pattern Recognition (Q1)

Tipo y forma: Article (PostPrint)

Área (Departamento): Área Ingen.Sistemas y Automát. (Dpto. Informát.Ingenie.Sistms.)