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