Multi-robot manipulation via caging in environments with obstacles

13 years 11 months ago

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Abstract— We present a decentralized approach to multirobot manipulation where the team of robots surround and trap an object and transport it, by dragging or pushing, to the goal conﬁguration in an environment with obstacles. The proposed feedback controllers are obtained by sequentially composing vector ﬁelds or behaviors and are decentralized in the sense that robots do not exchange each other’s state information. Rather, cooperative manipulation is achieved by relying solely on each robot’s local information and a global knowledge of the task. We present computer simulations and experimental results obtained using our multi-robot testbed.

Jonathan Fink, M. Ani Hsieh, Vijay Kumar

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