Decentralized Algorithms for Multi-Robot Manipulation via Caging

Algorithms for Multi - Robot Manipulation via Caging

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 decentrali...

Decentralized Algorithms for Multirobot Manipulation via Caging

This paper addresses 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 co...

Composition of Vector Fields for Multi-Robot Manipulation via Caging

This paper describes a novel approach for multirobot caging and manipulation, which relies on the team of robots forming patterns that trap the object to be manipulated and dragging or pushing the object to the goal configuration. The controllers are obtained by sequential composition of vector fields or behaviors and enable decentralized computation based only on local information. Further, th...

Sensorless In-Hand Caging Manipulation

Bio-inspired Decentralized Self-coordination Algorithms for Multi-heterogeneous Specialized Tasks Distribution in Multi-Robot Systems

This paper focuses on the general problem of coordinating multiple robots. More specifically, it addresses the self-election of heterogeneous specialized tasks by autonomous robots, as opposed to the usual multi-tasks allocation problem in multi-robot systems in which an external controller distributes the existing tasks among the individual robots. We are rather interested on decentralized sol...