Decentralized Algorithms for Multirobot Manipulation via Caging

  • Guilherme A. S. Pereira
  • Vijay Kumar
  • Mario F. M. Campos
Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 7)


This paper addresses the problem of transporting objects with 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. Our basic goal in this paper is to develop decentralized control policies for a group of robots to achieve a condition of object closure, and then, move toward a goal position while maintaining this condition. 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.


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Copyright information

© Springer-Verlag Berlin Heidelberg 2004

Authors and Affiliations

  • Guilherme A. S. Pereira
    • 1
    • 2
  • Vijay Kumar
    • 1
  • Mario F. M. Campos
    • 2
  1. 1.GRASP Lab.University of PennsylvaniaPhiladelphiaUSA
  2. 2.VERLabUniversidade Federal de Minas GeraisBelo HorizonteBrazil

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