Social choice theory and cooperative (coalitional) game theory have become important foundations for the design and analysis of multiagent systems. In this paper, we use cooperative game theory tools in order to explore the coalition formation process in the coalitional manipulation problem. Unlike earlier work on a cooperative-game-theoretic approach to the manipulation problem [2], we conside...

This article analyzes the evolution and current trends in aerial robotic manipulation, comprising helicopters, conventional underactuated multirotors, multidirectional thrust platforms equipped with a wide variety of manipulators capable physically interacting environment. It also covers cooperative manipulation interconnected actuated multibody designs. The review is completed developments tel...

In this paper, a control method of robots for human-robot cooperative manipulation is investigated. We propose estimating human motion using the minimum jerk model for smooth cooperation. Using nonlinear least-squares method, we identify two parameters of the minimum-jerk model in real-time. The estimated position of the human hand is used to determine the desired position of the end-effector o...

We present a distributed method for the estimation of the kinematic parameters, the dynamic parameters, and the kinematic state of an unknown body manipulated by a decentralized team of mobile ground (planar) robots. The proposed approach relies on the geometry of the rigid body kinematics, the rigid body dynamics, on nonlinear observation, and on consensus algorithms. The only three requiremen...

This paper presents the work performed in the context of the VIMANCO on-going project. It has the objective of improving the autonomy, safety and robustness of robotics system using vision. Vision is certainly the most adequate exteroceptive sensor to deal with complex and varying environments and for manipulation tasks of non cooperative objects. The approach we propose is based on an up-to-da...