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The International Journal of Robotics Research
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Decentralized Algorithms for Multi-Robot Manipulation via Caging

Guilherme A. S. Pereira

VERLab–Vision and Robotics Laboratory, DCC, Universidade Federal de Minas Gerais, Belo Horizonte, MG 31270-010 Brazilgpereira{at}dcc.ufmg.br

Mario F. M. Campos

VERLab–Vision and Robotics Laboratory, DCC, Universidade Federal de Minas Gerais, Belo Horizonte, MG 31270-010 Brazilmario{at}dcc.ufmg.br

Vijay Kumar

GRASP Laboratory, University of Pennsylvania, Philadelphia, PA 19104-6228, USAkumar{at}grasp.cis.upenn.edu

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.

Key Words: manipulation • caging • object closure • cooperative robots • decentralized control

The International Journal of Robotics Research, Vol. 23, No. 7-8, 783-795 (2004)
DOI: 10.1177/0278364904045477
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Qingguo Li and S. Payandeh
Manipulation of Convex Objects via Two-agent Point-contact Push
The International Journal of Robotics Research, April 1, 2007; 26(4): 377 - 403.
[Abstract] [PDF]