A Decentralized Test Algorithm for Object Closure by Multiple Cooperating Mobile Robots

  • ZhiDong Wang
  • Vijay Kumar


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 robots can cooperatively drag or flow the trapped object to the desired goal. In this paper, we define object closure and develop a set of decentralized algorithms that allow the robots to achieve and maintain Object Closure.


Mobile Robot Feasible Path Object Closure Force Closure Multiple Mobile Robot 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.


  1. 1.
    Adams J., Bajcsy R., Kosecka J., Kumar V., and, Cooperative material handling by human and robotic agents: module development and system synthesis, Expert System Applications, Vol.11, No.2, pp.89–97, 1996.CrossRefGoogle Scholar
  2. 2.
    Bicchi, A. and Kumar, V, Robotic Grasping and Contact, ICRA2000, pp.348–353, 2000.Google Scholar
  3. 3.
    Fierro R., Das A., Kumar V., and Ostrowski J.P. Hybrid Control of Formations of Robots, ICRA2001, pp.157–162, 2001.Google Scholar
  4. 4.
    Koga M., Kosuge K., Furuta K., and Nosaki K., Coordinated motion control of robot arms based on the virtual internal model, IEEE Trans, on Robotics and Automation, Vol.1, No.l, pp. 77–85, 1992.CrossRefGoogle Scholar
  5. 5.
    Kosuge K., Hirata Y., et al, Motion control of multiple autonomous mobile robots handling a large object in coordination, ICRA99, pp.2666–2673, 1999.Google Scholar
  6. 6.
    Latombe J.C., Robot Motion Planning, Kluwer Academic Publishers Press, 1991.CrossRefGoogle Scholar
  7. 7.
    Lynch K.M. and Mason M.T., Stable Pushing: Mechanics, Controllability, and Planning, Int. J. Robotics Research, 16(6), pp.533–556, 1996.CrossRefGoogle Scholar
  8. 8.
    Lynch K.M., Dynamic nonprehensile manipulation: Controllability, planning, and experiments, Int. J. Robotics Research, 18(1), pp.64–92, 1999.Google Scholar
  9. 9.
    Nakamura Y., Nagai K., Yoshikawa T., Dynamics and Stability in Coordination of Multiple Robotic Mechanisms, Int.J.Robotics Research, 8(2), pp.44–61, 1989.CrossRefGoogle Scholar
  10. 10.
    Ahmadabadi M.N., Rushan S.M., Wang Z.D., Nakano E., A Constrain-Move based distributed cooperation strategy for four object lifting robots, IROS2000, pp.2030–2035, 2000.Google Scholar
  11. 11.
    Ota J., Miyata N., Arai T., and, Transferring and Regrasping a Large Object by Cooperation of Multiple Mobile Robots, IROS95, pp.543–548, 1995.Google Scholar
  12. 12.
    Parker L. E., ALLIANCE: an architecture for fault tolerant multirobot cooperation, IEEE Tran. on Robotics and Automation, 14(2), pp.220–240, 1998.CrossRefGoogle Scholar
  13. 13.
    Rimon E. and Blake A., Caging 2D bodies by one-parameter two-fingered gripping systems, ICRA96, pp. 1458–1464, 1996Google Scholar
  14. 14.
    Rimon E. and Burdick J.W., Mobility of Bodies in in Contact -I: A New 2 nd Order Mobility Index for Multiple-Fing er Grasp. IEEE Trans. Robotics and Automation, 14(5) pp.696–708, 1998CrossRefGoogle Scholar
  15. 15.
    Spletzer J., Das A.K., and, Cooperative Localization and Control for Multi-Robot Manipulation, IROS2001, pp.631–636, 2001.Google Scholar
  16. 16.
    Sudsand A. and Poncec J., On Grasping and Manipulating Polygonal Objects with Disc-Shaped Robots in the Plane, ICRA98, pp.2740–2746, 1998.Google Scholar
  17. 17.
    Sudsand A. and Poncec J., A New Approach to Motion Planning for Disc-Shaped Robots Manipulation a Polygonal Object in the Plane, ICRA2000, pp. 1068–1075, 2000.Google Scholar
  18. 18.
    Sugar T., and Kumar V., Multiple Cooperating Mobile Manipulators, ICRA99, pp. 1538–1543, 1999.Google Scholar
  19. 19.
    Uchiyama M. and Dauchez P., A symmetric hybrid position/force control scheme for the coordination of two robots, ICRA88, pp.350–355, 1988.Google Scholar
  20. 20.
    Wang Z.D., Nakano E., and Matsukawa T., A New Approach to Multiple Robots’ Behavior Design for Cooperative Object Manipulation, Distributed Autonomous Robotic Systems 2, pp.350–361, 1996.Google Scholar
  21. 21.
    Wang Z.D., Ahmadabadi M.N., Nakano E., and Takahashi T., A multiple robot system for cooperative object transportation with various requirements on task performing, ICRA99, pp. 1226–1233, 1999.Google Scholar
  22. 22.
    Wang Z.D., Kumar V., Object Closure and Manipulation by Multiple Cooperating Mobile Robots, ICRA2002.Google Scholar

Copyright information

© Springer-Verlag Tokyo 2002

Authors and Affiliations

  • ZhiDong Wang
    • 1
  • Vijay Kumar
    • 2
  1. 1.Intelligent Robotics Lab., Graduate School of Eng.Tohoku Univ.SendaiJapan
  2. 2.GRASP Lab., CISUniversity of PennsylvaniaPhiladelphiaUSA

Personalised recommendations