000129865 001__ 129865
000129865 005__ 20240112163659.0
000129865 0247_ $$2doi$$a10.1109/ICRA46639.2022.9812378
000129865 0248_ $$2sideral$$a129888
000129865 037__ $$aART-2022-129888
000129865 041__ $$aeng
000129865 100__ $$0(orcid)0000-0001-9642-7655$$aHerguedas, Rafael$$uUniversidad de Zaragoza
000129865 245__ $$aMultirobot control with double-integrator dynamics and control barrier functions for deformable object transport
000129865 260__ $$c2022
000129865 5060_ $$aAccess copy available to the general public$$fUnrestricted
000129865 5203_ $$aIn this paper, we propose a formation control system for deforming and transporting simultaneously a de-formable object with a team of robots, modeled with double-integrator dynamics. The goal is to reach a target configuration, defined as a combination of shape, scale, orientation and position of the formation. We augment this controller with a set of control barrier functions (CBFs). The CBFs allow us to satisfy fundamental constraints for the success of the task: avoidance of agent-to-agent, agent-to-obstacle and object-to-obstacle collisions, and of excessive stretching. We test the performance of our proposal in different simulation scenarios.
000129865 536__ $$9info:eu-repo/grantAgreement/ES/DGA-FSE/T45-20R$$9info:eu-repo/grantAgreement/EC/H2020/869855/EU/Advanced RoBOTic Technology for Handling SOFT Materials in MANufacturing Sectors/SOFTMANBOT$$9This project has received funding from the European Union’s Horizon 2020 research and innovation program under grant agreement No H2020 869855-SOFTMANBOT$$9info:eu-repo/grantAgreement/ES/MCIU-AEI-FEDER/PGC2018-098719-B-I00$$9info:eu-repo/grantAgreement/EUR/SUDOE/INTERREG/COMMANDIA-SOE2-P1-F0638
000129865 540__ $$9info:eu-repo/semantics/openAccess$$aAll rights reserved$$uhttp://www.europeana.eu/rights/rr-f/
000129865 655_4 $$ainfo:eu-repo/semantics/conferenceObject$$vinfo:eu-repo/semantics/acceptedVersion
000129865 700__ $$aAranda, Miguel
000129865 700__ $$0(orcid)0000-0001-9347-5969$$aLopez-Nicolas, Gonzalo$$uUniversidad de Zaragoza
000129865 700__ $$0(orcid)0000-0002-3032-954X$$aSagües, Carlos$$uUniversidad de Zaragoza
000129865 700__ $$aMezouar, Youcef
000129865 7102_ $$15007$$2520$$aUniversidad de Zaragoza$$bDpto. Informát.Ingenie.Sistms.$$cÁrea Ingen.Sistemas y Automát.
000129865 773__ $$g2022 (2022), 1485-1491$$pIEEE Int. conf. robot. autom.$$tIEEE International Conference on Robotics and Automation$$x2152-4092
000129865 8564_ $$s3027389$$uhttps://zaguan.unizar.es/record/129865/files/texto_completo.pdf$$yPostprint
000129865 8564_ $$s3373524$$uhttps://zaguan.unizar.es/record/129865/files/texto_completo.jpg?subformat=icon$$xicon$$yPostprint
000129865 909CO $$ooai:zaguan.unizar.es:129865$$particulos$$pdriver
000129865 951__ $$a2024-01-12-14:09:28
000129865 980__ $$aARTICLE