Mutli-Robot Cooperative Object Transportation with Guaranteed Safety and Convergence in Planar Obstacle Cluttered Workspaces via Configuration Space Decomposition
In this work, we consider the autonomous object transportation problem employing a team of mobile manipulators within a compact planar workspace with obstacles. As the object is allowed to translate and rotate and each robot is equipped with a manipulator consisting of one or more moving links, the...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2022-12-01
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| Series: | Robotics |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2218-6581/11/6/148 |