doi:10.1109/ICRA46639.2022.9812378engHerguedas, RafaelAranda, MiguelLopez-Nicolas, GonzaloSagües, CarlosMezouar, YoucefMultirobot control with double-integrator dynamics and control barrier functions for deformable object transportART-2022-129888In 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.2022http://zaguan.unizar.es/record/12986510.1109/ICRA46639.2022.9812378http://zaguan.unizar.es/record/129865oai:zaguan.unizar.es:129865info:eu-repo/grantAgreement/ES/DGA-FSE/T45-20Rinfo:eu-repo/grantAgreement/EC/H2020/869855/EU/Advanced RoBOTic Technology for Handling SOFT Materials in MANufacturing Sectors/SOFTMANBOTThis project has received funding from the European Union’s Horizon 2020 research and innovation program under grant agreement No H2020 869855-SOFTMANBOTinfo:eu-repo/grantAgreement/ES/MCIU-AEI-FEDER/PGC2018-098719-B-I00info:eu-repo/grantAgreement/EUR/SUDOE/INTERREG/COMMANDIA-SOE2-P1-F0638IEEE International Conference on Robotics and Automation 2022 (2022), 1485-1491All rights reservedhttp://www.europeana.eu/rights/rr-f/info:eu-repo/semantics/openAccess