129865 20240112163659.0 doi 10.1109/ICRA46639.2022.9812378 sideral 129888 ART-2022-129888 eng Herguedas, Rafael Universidad de Zaragoza (orcid)0000-0001-9642-7655 Multirobot control with double-integrator dynamics and control barrier functions for deformable object transport 2022 In 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. Access copy available to the general public Unrestricted info:eu-repo/grantAgreement/ES/DGA-FSE/T45-20R info:eu-repo/grantAgreement/EC/H2020/869855/EU/Advanced RoBOTic Technology for Handling SOFT Materials in MANufacturing Sectors/SOFTMANBOT This project has received funding from the European Union’s Horizon 2020 research and innovation program under grant agreement No H2020 869855-SOFTMANBOT info:eu-repo/grantAgreement/ES/MCIU-AEI-FEDER/PGC2018-098719-B-I00 info:eu-repo/grantAgreement/EUR/SUDOE/INTERREG/COMMANDIA-SOE2-P1-F0638 info:eu-repo/semantics/openAccess All rights reserved http://www.europeana.eu/rights/rr-f/ info:eu-repo/semantics/conferenceObject info:eu-repo/semantics/acceptedVersion Aranda, Miguel Lopez-Nicolas, Gonzalo Universidad de Zaragoza (orcid)0000-0001-9347-5969 Sagües, 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. 2022 (2022), 1485-1491 IEEE Int. conf. robot. autom. IEEE International Conference on Robotics and Automation 2152-4092 3027389 http://zaguan.unizar.es/record/129865/files/texto_completo.pdf Postprint 3373524 http://zaguan.unizar.es/record/129865/files/texto_completo.jpg?subformat=icon icon Postprint oai:zaguan.unizar.es:129865 articulos driver 2024-01-12-14:09:28 ARTICLE