Decentralized Cooperative Object Transportation by Multiple Mobile Robots with a Pushing Leader

Swarm Robotics: An Extensive Research Review

“…Researches in this area of swarm robotics have drafted three types object manipulation method which are namely grasping, pushing and caging. In grasping, all robots are arranged so that the total robots system is grasping the object (Wang et al, 2007;Agassounon, 2004). Grasping incorporates form closure (refer to Fig.1(b)) and force closure (refer to Fig.1(a)) techniques.…”

“…Caging has been widely used in manipulation of swarm robotics because this makes motion planning and control of each robotic mechanism simple and robust. A leader-follower type multiple robot system was addressed by Wang et al (2007) where the proposed system consists of a pushing leader, a robot without grasping mechanisms, and multiple follower robots. During the object transportation, a desired trajectory is given to the leader robot only, and follower robots estimate the trajectory of the leader based on force/moment from the object.…”

Convergence analysis and controller design for a team of mobile robots subject to measurement error

“…It is desired in this type of problem to control the relative position and orientation of the robots with respect to each other. Applications of formation control of cooperative robots include simultaneous localization and mapping, RoboCup, and the exploration of an unknown environment, to name only a few [7], [8], [9], [10]. The most effective approaches introduced in the literature for formation control of mobile robots are behavior-based, virtual structure, and leader-follower [11].…”

Collision-free motion coordination of unicycle multi-agent systems

“…The coordination may involve spatial patterning of the agents, such as formation of platoons. Other examples of patterning can be encountered Manuscript during cooperative manipulation of a massive object by a formation of the coordinated agents; the agents manipulate the object while establishing grasping, caging, or conditional closure patterns [4].…”