D. Sieber, F. Deroo, and S. Hirche, Iterative optimal feedback control design under relaxed rigidity constraints for multi-robot cooperative manipulation, IEEE Conference on Decision and Control, pp.971-976, 2013.

D. Berenson, Manipulation of deformable objects without modeling and simulating deformation, IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.4525-4532, 2013.

J. Umlauft, D. Sieber, and S. Hirche, Dynamic movement primitives for cooperative manipulation and synchronized motions, IEEE International Conf. on Robotics and Automation, pp.766-771, 2014.

J. C. Gower and G. B. Dijksterhuis, Procrustes problems, 2004.

H. Bai and J. T. Wen, Cooperative load transport: A formation-control perspective, IEEE Transactions on Robotics, vol.26, issue.4, pp.742-750, 2010.

F. Basile, F. Caccavale, P. Chiacchio, J. Coppola, and C. Curatella, Task-oriented motion planning for multi-arm robotic systems, Robotics and Computer-Integrated Manufacturing, vol.28, issue.5, pp.569-582, 2012.

J. Markdahl, Y. Karayiannidis, X. Hu, and D. Kragic, Distributed cooperative object attitude manipulation, IEEE International Conference on Robotics and Automation, pp.2960-2965, 2012.

Z. Wang and M. Schwager, Kinematic multi-robot manipulation with no communication using force feedback, IEEE International Conference on Robotics and Automation, pp.427-432, 2016.

A. Petitti, A. Franchi, D. D. Paola, and A. Rizzo, Decentralized motion control for cooperative manipulation with a team of networked mobile manipulators, IEEE International Conference on Robotics and Automation, pp.441-446, 2016.
URL : https://hal.archives-ouvertes.fr/hal-01285043

H. G. Tanner, S. G. Loizou, and K. J. Kyriakopoulos, Nonholonomic navigation and control of cooperating mobile manipulators, IEEE Trans. on Robotics and Automation, vol.19, issue.1, pp.53-64, 2003.

J. Alonso-mora, R. Knepper, R. Siegwart, and D. Rus, Local motion planning for collaborative multi-robot manipulation of deformable objects, IEEE International Conference on Robotics and Automation, pp.5495-5502, 2015.

K. Oh, M. Park, and H. Ahn, A survey of multi-agent formation control, Automatica, vol.53, pp.424-440, 2015.

J. Sanchez, J. Corrales, B. Bouzgarrou, and Y. Mezouar, Robotic manipulation and sensing of deformable objects in domestic and industrial applications: a survey, The International Journal of Robotics Research, vol.37, issue.7, pp.688-716, 2018.
URL : https://hal.archives-ouvertes.fr/hal-01816189

J. Das and N. Sarkar, Autonomous shape control of a deformable object by multiple manipulators, Journal of Intelligent & Robotic Systems, vol.62, issue.1, pp.3-27, 2011.

P. Jiménez, Survey on model-based manipulation planning of deformable objects, Robotics and Computer-Integrated Manufacturing, vol.28, issue.2, pp.154-163, 2012.

T. Bretl and Z. Mccarthy, Quasi-static manipulation of a Kirchhoff elastic rod based on a geometric analysis of equilibrium configurations, The International Journal of Robotics Research, vol.33, issue.1, pp.48-68, 2014.

M. Mukadam, A. Borum, and T. Bretl, Quasi-static manipulation of a planar elastic rod using multiple robotic grippers, IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp.55-60, 2014.

A. Delgado, J. Corrales, Y. Mezouar, L. Lequievre, C. Jara et al., Tactile control based on Gaussian images and its application in bi-manual manipulation of deformable objects, Robotics and Autonomous Systems, vol.94, pp.148-161, 2017.
URL : https://hal.archives-ouvertes.fr/hal-01658910

D. Navarro-alarcón, Y. Liu, J. G. Romero, and P. Li, Modelfree visually servoed deformation control of elastic objects by robot manipulators, IEEE Transactions on Robotics, vol.29, issue.6, pp.1457-1468, 2013.

D. Navarro-alarcón and Y. Liu, Fourier-based shape servoing: A new feedback method to actively deform soft objects into desired 2-D image contours, IEEE Transactions on Robotics, vol.34, issue.1, pp.272-279, 2018.

Z. Hu, P. Sun, and J. Pan, Three-dimensional deformable object manipulation using fast online Gaussian process regression, IEEE Robotics and Automation Letters, vol.3, issue.2, pp.979-986, 2018.

K. Kanatani, Analysis of 3-D rotation fitting, IEEE Trans. Pattern Anal. Mach. Intell, vol.16, issue.5, pp.543-549, 1994.

M. Aranda, G. López-nicolás, C. Sagüés, and M. M. Zavlanos, Coordinate-free formation stabilization based on relative position measurements, Automatica, vol.57, pp.11-20, 2015.

C. Ze-su, Z. Jie, and C. Jian, Formation control and obstacle avoidance for multiple robots subject to wheel-slip, Int. Journ. Advanced Robotic Syst, vol.9, issue.5, pp.188-202, 2012.

A. R. Mosteo, E. Montijano, and D. Tardioli, Optimal role and position assignment in multi-robot freely reachable formations, Automatica, vol.81, pp.305-313, 2017.