Cooperative object transport in multi-robot systems: A review of the state-of-the-art
In recent years, there has been a growing interest in designing multi-robot systems
(hereafter MRSs) to provide cost effective, fault-tolerant and reliable solutions to a variety of …
(hereafter MRSs) to provide cost effective, fault-tolerant and reliable solutions to a variety of …
[HTML][HTML] Review of floating object manipulation by autonomous multi-vessel systems
The regulatory endorsement of the International Maritime Organization (IMO) and the
support of pivotal shipping market players in recent years motivate the investigation of the …
support of pivotal shipping market players in recent years motivate the investigation of the …
Discontinuous dynamical systems
J Cortes - IEEE Control systems magazine, 2008 - ieeexplore.ieee.org
This article has presented an introductory tutorial on discontinuous dynamical systems.
Various examples illustrate the pertinence of the continuity and Lipschitzness properties that …
Various examples illustrate the pertinence of the continuity and Lipschitzness properties that …
From caging to grasping
A Rodriguez, MT Mason… - The International Journal …, 2012 - journals.sagepub.com
This paper digs into the relationship between cages and grasps of a rigid body. In particular,
it considers the use of cages as waypoints to grasp an object. We introduce the concept of …
it considers the use of cages as waypoints to grasp an object. We introduce the concept of …
HERB: a home exploring robotic butler
We describe the architecture, algorithms, and experiments with HERB, an autonomous
mobile manipulator that performs useful manipulation tasks in the home. We present new …
mobile manipulator that performs useful manipulation tasks in the home. We present new …
Occlusion-based cooperative transport with a swarm of miniature mobile robots
This paper proposes a strategy for transporting a large object to a goal using a large number
of mobile robots that are significantly smaller than the object. The robots only push the object …
of mobile robots that are significantly smaller than the object. The robots only push the object …
Kinematic multi-robot manipulation with no communication using force feedback
Z Wang, M Schwager - 2016 IEEE international conference on …, 2016 - ieeexplore.ieee.org
This paper proposes a novel decentralized algorithm that coordinates the forces of a group
of robots during a cooperative manipulation task. The highlight of our approach is that no …
of robots during a cooperative manipulation task. The highlight of our approach is that no …
Multi-robot manipulation via caging in environments with obstacles
We present a decentralized approach to multi-robot manipulation where the team of robots
surround and trap an object and transport it, by dragging or pushing, to the goal …
surround and trap an object and transport it, by dragging or pushing, to the goal …
Towards group transport by swarms of robots
We examine the ability of a swarm robotic system to transport cooperatively objects of
different shapes and sizes. We simulate a group of autonomous mobile robots that can …
different shapes and sizes. We simulate a group of autonomous mobile robots that can …
Cooperative load transport: A formation-control perspective
We consider a group of agents collaboratively transporting a flexible payload. The contact
forces between the agents and the payload are modeled as gradients of nonlinear potentials …
forces between the agents and the payload are modeled as gradients of nonlinear potentials …