Rafael Herguedas — accepted AI-conference papers

2023

Double-Integrator Multirobot Control With Uncoupled Dynamics for Transport of Deformable Objects

Rafael Herguedas, Miguel Aranda, Gonzalo López-Nicolás, Carlos Sagüés, Youcef Mezouar

RA-L 2023

We present a formation controller for a team of mobile robots, modelled with double-integrator dynamics, to manipulate deformable objects grasped around their contour. The manipulation task is defined as reaching a target configuration consisting of a desired shape, scale, position and orientation o

Cited by 7 Source ↗Scholar ↗

2022

Multirobot control with double-integrator dynamics and control barrier functions for deformable object transport

Rafael Herguedas, Miguel Aranda, Gonzalo López-Nicolás, Carlos Sagüés, Youcef Mezouar

ICRA 2022poster

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 t…

Cited by 10 Source ↗Scholar ↗