Cooperative object transport in multi-robot systems: A review of the state-of-the-art

E Tuci, MHM Alkilabi, O Akanyeti - Frontiers in Robotics and AI, 2018 - frontiersin.org
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 …

[HTML][HTML] Review of floating object manipulation by autonomous multi-vessel systems

Z Du, RR Negenborn, V Reppa - Annual Reviews in Control, 2023 - Elsevier
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 …

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 …

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 …

HERB: a home exploring robotic butler

SS Srinivasa, D Ferguson, CJ Helfrich, D Berenson… - Autonomous …, 2010 - Springer
We describe the architecture, algorithms, and experiments with HERB, an autonomous
mobile manipulator that performs useful manipulation tasks in the home. We present new …

Occlusion-based cooperative transport with a swarm of miniature mobile robots

J Chen, M Gauci, W Li, A Kolling… - IEEE Transactions on …, 2015 - ieeexplore.ieee.org
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 …

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 …

Multi-robot manipulation via caging in environments with obstacles

J Fink, MA Hsieh, V Kumar - 2008 IEEE International …, 2008 - ieeexplore.ieee.org
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 …

Towards group transport by swarms of robots

R Groß, M Dorigo - International Journal of Bio-Inspired …, 2009 - inderscienceonline.com
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 …

Cooperative load transport: A formation-control perspective

H Bai, JT Wen - IEEE Transactions on Robotics, 2010 - ieeexplore.ieee.org
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 …