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We proposed a method to design a parameter of the control barrier function (CBF) in a robotic swarm so that the swarm can achieve collision-free deformation considering the environmental conditions. We analyzed the responses to perturbations of swarming robots, to which we applied the CBF. Although we can guarantee a safe distance between mobile robots, the CBF limits their actions and prevents swarm deformation. Through analysis of the frequency domain, we investigated the effects of a selected parameter in the CBF on the deformability of a swarm. We obtained an appropriate range of parameters that realize both distance maintenance and deformability retention.<\/jats:p>","DOI":"10.1007\/s10015-022-00745-y","type":"journal-article","created":{"date-parts":[[2022,2,22]],"date-time":"2022-02-22T09:04:01Z","timestamp":1645520641000},"page":"248-254","update-policy":"http:\/\/dx.doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":0,"title":["Frequency response of swarm deformation with control barrier function"],"prefix":"10.1007","volume":"27","author":[{"given":"Y.","family":"Origane","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Y.","family":"Hattori","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"D.","family":"Kurabayashi","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","published-online":{"date-parts":[[2022,2,21]]},"reference":[{"issue":"4","key":"745_CR1","doi-asserted-by":"publisher","first-page":"25","DOI":"10.1145\/37402.37406","volume":"21","author":"CW Reynolds","year":"1987","unstructured":"Reynolds CW (1987) Flocks, herds and schools: a distributed behavioral model. 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