000129820 001__ 129820 000129820 005__ 20240111114817.0 000129820 0247_ $$2doi$$a10.23919/ICCAS52745.2021.9650027 000129820 0248_ $$2sideral$$a133551 000129820 037__ $$aART-2021-133551 000129820 041__ $$aeng 000129820 100__ $$0(orcid)0000-0001-9642-7655$$aHerguedas, Rafael$$uUniversidad de Zaragoza 000129820 245__ $$aCollision-free transport of 2D deformable objects 000129820 260__ $$c2021 000129820 5060_ $$aAccess copy available to the general public$$fUnrestricted 000129820 5203_ $$aIn this paper, we propose a novel system to transport 2D cloth-like deformable objects with mobile manipulators and without collisions along a known path. First, a new deformation model that allows for real-time shape prediction, based on the paradigm of deformable bounding box, is presented. Then, observability index maximization is applied to obtain the model parameters with a reduced number of measurements. The transport task is next defined as an optimization problem that incorporates the computed model and the transport route. A set of linear and nonlinear constraints allows to limit the object's deformations and rotations and to avoid obstacles, respectively. Simulation results are reported to demonstrate the validity of our method 000129820 540__ $$9info:eu-repo/semantics/openAccess$$aAll rights reserved$$uhttp://www.europeana.eu/rights/rr-f/ 000129820 655_4 $$ainfo:eu-repo/semantics/conferenceObject$$vinfo:eu-repo/semantics/acceptedVersion 000129820 700__ $$0(orcid)0000-0001-9347-5969$$aLopez-Nicolas, Gonzalo$$uUniversidad de Zaragoza 000129820 700__ $$0(orcid)0000-0002-3032-954X$$aSagues, Carlos$$uUniversidad de Zaragoza 000129820 7102_ $$15007$$2520$$aUniversidad de Zaragoza$$bDpto. Informát.Ingenie.Sistms.$$cÁrea Ingen.Sistemas y Automát. 000129820 773__ $$g21 (2021)$$pInt. Conf. Control. Autom. Syst.$$tInternational Conference on Control, Automation and Systems$$x1598-7833 000129820 8564_ $$s1117408$$uhttps://zaguan.unizar.es/record/129820/files/texto_completo.pdf$$yPostprint 000129820 8564_ $$s3251234$$uhttps://zaguan.unizar.es/record/129820/files/texto_completo.jpg?subformat=icon$$xicon$$yPostprint 000129820 909CO $$ooai:zaguan.unizar.es:129820$$particulos$$pdriver 000129820 951__ $$a2024-01-11-09:29:46 000129820 980__ $$aARTICLE