Decentralized Algorithms for Multi-Robot Manipulation via Caging

@article{Pereira2004DecentralizedAF,
  title={Decentralized Algorithms for Multi-Robot Manipulation via Caging},
  author={Guilherme A. S. Pereira and Mario Fernando Montenegro Campos and Vijay Kumar},
  journal={I. J. Robotics Res.},
  year={2004},
  volume={23},
  pages={783-795}
}
In this paper we address the problem of transporting objects with multiple mobile robots using the concept of “object closure”. In contrast to other manipulation techniques that are typically derived from form or force closure constraints, object closure requires the less stringent condition that the object be trapped or caged by the robots. Our basic goal in this paper is to develop decentralized control policies for a group of robots to move toward a goal position while maintaining a… CONTINUE READING
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