Control a rigid caging formation for cooperative object transportation by multiple mobile robots

Research output: Contribution to journalConference article

39 Citations (Scopus)

Abstract

This paper addresses the problem of multi-robots object transportation by using the concept of Object Closure. In contrast to Form or Force Closure which is used in the research of grasping, Object Closure is a condition under which the object is trapped so that there is no feasible path for the object from the given position to any position that is beyond a specified threshold distance. Once Object Closure is achieved, the robots can cooperatively drag or flow the trapped object to the desired goal. In this paper, we address the concept CC-Closure Object and testing algorithms using properties of CC-Closure Object Also the scaling and control problem of caging formation is addressed and two algorithms to realize two-effectors pushing on fixed caging formation control is proposed.

Original languageEnglish
Pages (from-to)1580-1585
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
Volume2004
Issue number2
Publication statusPublished - 2004 Jul 5
EventProceedings- 2004 IEEE International Conference on Robotics and Automation - New Orleans, LA, United States
Duration: 2004 Apr 262004 May 1

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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