Cooperative Transport of Planar Objects by Multiple Mobile Robots Using Object Closure
نویسندگان
چکیده
This paper addresses the problem of transporting objects by 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. We present experimental results that show car-like robots controlled using visual feedback, transporting an object in an obstacle free environment toward a prescribed goal.
منابع مشابه
Object Closure and Manipulation by Multiple Cooperating Mobile Robots
We address the manipulation of planar objects by multiple cooperating mobile robots using the concept of Object Closure. In contrast to Form or Force Closure, 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 r...
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