000163283 001__ 163283
000163283 005__ 20251030145434.0
000163283 0247_ $$2doi$$a10.1080/00207721.2025.2559138
000163283 0248_ $$2sideral$$a145764
000163283 037__ $$aART-2025-145764
000163283 041__ $$aeng
000163283 100__ $$aMarcos-Saavedra, Raquel
000163283 245__ $$aMultirobot control with deformation modes for transport of deformable objects
000163283 260__ $$c2025
000163283 5060_ $$aAccess copy available to the general public$$fUnrestricted
000163283 5203_ $$aIn this article, we present a novel formation control approach for transporting deformable objects with a team of robots. The goal of the proposed system is to reach a target configuration consisting of a desired shape, scale, position and orientation, while allowing linear and quadratic deformations of the robotic formation during the transport. The use of this range of deformation modes enables preserving the integrity of the object while making the transport system highly flexible. Our approach applies a linear combination of terms to regulate the different variables that represent the control goal toward their desired values. We propose controllers both in 2D and 3D workspaces, and provide formal analysis of the exponential convergence of the shape variables and the absence of conflicts between the used control terms. In addition, we illustrate that the presented approach accommodates the use of robots with diverse dynamic models. We validate the proposed controllers via numerical simulations in different settings and experiments with physical unicycle-type robots.
000163283 536__ $$9info:eu-repo/grantAgreement/EUR/AEI/TED2021-130224B-I00$$9info:eu-repo/grantAgreement/ES/MICINN-AEI-FEDER/PID2021-124137OB-I00
000163283 540__ $$9info:eu-repo/semantics/embargoedAccess$$aAll rights reserved$$uhttp://www.europeana.eu/rights/rr-f/
000163283 655_4 $$ainfo:eu-repo/semantics/article$$vinfo:eu-repo/semantics/acceptedVersion
000163283 700__ $$0(orcid)0000-0002-4556-7209$$aAranda, Miguel$$uUniversidad de Zaragoza
000163283 700__ $$0(orcid)0000-0001-9347-5969$$aLópez-Nicolás, Gonzalo$$uUniversidad de Zaragoza
000163283 7102_ $$15007$$2520$$aUniversidad de Zaragoza$$bDpto. Informát.Ingenie.Sistms.$$cÁrea Ingen.Sistemas y Automát.
000163283 7102_ $$15007$$2075$$aUniversidad de Zaragoza$$bDpto. Informát.Ingenie.Sistms.$$cÁrea Ciencia Comput.Intelig.Ar
000163283 773__ $$g(2025), [13 pp.]$$pInt. J. Syst. Sci.$$tINTERNATIONAL JOURNAL OF SYSTEMS SCIENCE$$x0020-7721
000163283 8564_ $$s4168245$$uhttps://zaguan.unizar.es/record/163283/files/texto_completo.pdf$$yPostprint$$zinfo:eu-repo/date/embargoEnd/2026-10-13
000163283 8564_ $$s3534786$$uhttps://zaguan.unizar.es/record/163283/files/texto_completo.jpg?subformat=icon$$xicon$$yPostprint$$zinfo:eu-repo/date/embargoEnd/2026-10-13
000163283 909CO $$ooai:zaguan.unizar.es:163283$$particulos$$pdriver
000163283 951__ $$a2025-10-30-14:52:12
000163283 980__ $$aARTICLE