Decentralized Kinematic Control of Payload Transport by a System of Mobile Manipulators


In this paper, we examine creation of a decentralized kinematic control scheme for a composite system of two (or more) wheeled mobile manipulators that can team up to cooperatively transport a common payload. Each mobile manipulator module consists of a differentially-driven wheeled mobile robot (WMR) with a mounted planar two-degree-offreedom (d.o.f… (More)


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