Coordinated Transportation by Two Nonholonomic Mobile Robots based on Decentralized Control

Kazuhiro Kosuge, Tomohiro Oosumi, Kunihiko Chiba, Manabu Satou

Research output: Contribution to journalArticlepeer-review

3 Citations (Scopus)


In this paper we propose a decentralized control alogorithm for transporting a single object by two nonholonomic mobile robots. We extend the leader-follower type control algorithm, which we proposed for the holonomic robots(10), to the nonholonomic mobile robots by introducing the dual caster action. The proposed control algorithm is experimentally applied to two nonholonomic mobile robots, and the experimental results illustrate the validity of the extended control algorithm.

Original languageEnglish
Pages (from-to)2379-2385
Number of pages7
JournalNihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
Issue number634
Publication statusPublished - 1999
Externally publishedYes


  • Coordinated Motion Control
  • Decentralized Control
  • Nonholonomic Robot
  • Robot
  • Transportation

ASJC Scopus subject areas

  • Mechanics of Materials
  • Mechanical Engineering
  • Industrial and Manufacturing Engineering


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