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 2022poster10 citations

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

Abstract

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.

BibTeX

@inproceedings{icra2022_multirobotcontro,
  title = {Multirobot control with double-integrator dynamics and control barrier functions for deformable object transport},
  author = {Rafael Herguedas and Miguel Aranda and Gonzalo López-Nicolás and Carlos Sagüés and Youcef Mezouar},
  booktitle = {ICRA 2022},
  year = {2022}
}