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Left to right: a team of mobile robots bends while transporting a flexible virtual object, executes a shape-preserving rotation and resizing maneuver, and forms an affinely deformed regular polygon while enclosing mobile targets.
When a multirobot task involves the interaction with dynamic elements (e.g., transport/manipulation of a deformable object, or enclosing of an evolving phenomenon), allowing the structure formed by the robot positions to deform in a controlled way can be fundamental for successful task completion.
Based on this core philosophy, we have recently presented several control formulations applicable to various tasks of interest. The videos below show illustrative examples.
Combined leaderless control of different types of multirobot formation, article in IEEE RAL (RAL23b)
Control of affine formations using a modular structure, article in IEEE RAL (RAL24b)
Multirobot control for transport of deformable objects, article in IEEE RAL (RAL23a)
Multirobot formations for enclosing tasks using Fourier descriptors, article in IEEE CDC 2024 (CDC24)
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