Decentralized Algorithms for Multi-Robot Manipulation via Caging  

Oleh:

Kumar, Vijay ; Pereira, Guilherme A.S. ; Campos, Mario F.M.

Jenis: Article from Journal - ilmiah internasional
Dalam koleksi: The International Journal of Robotics Research vol. 23 no. 7-8 (Jul. 2004), page 783-795.
Topik: manipulation; caging; object closure; cooperative robots; decentralized control
Fulltext: 783.pdf (322.26KB)

Isi artikel

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 condition of object closure. We present experimental results that show polygonal mobile robots controlled using visual feedback, transporting a convex polygonal object in an obstacle free environment toward a prescribed goal.

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