Multi-robot Manipulation Without Communication

  address = {Tokyo},
  title = {Multi-robot {Manipulation} {Without} {Communication}},
  volume = {112},
  isbn = {978-4-431-55877-4 978-4-431-55879-8},
  url = {},
  abstract = {This paper presents a novel multi-robot manipulation algorithm which allows a large number of small robots to move a comparatively large object along a desired trajectory to a goal location. The algorithm does not require an explicit communication network among the robots. Instead, the robots coordinate their actions through sensing the motion of the object itself. It is proven that this implicit information is suf´Čücient to synchronize the forces applied by the robots. A leader robot then steers the forces of the synchronized group to manipulate the object through the desired trajectory to the goal. The paper presents algorithms that are proven to control both translational and rotational motion of the object. Simulations demonstrate the approach for two scenarios with 20 robots transporting a rectangular plank and 1000 robots transporting a piano.},
  language = {en},
  urldate = {2020-09-15},
  booktitle = {Distributed {Autonomous} {Robotic} {Systems}},
  publisher = {Springer Japan},
  author = {Wang, Zijian and Schwager, Mac},
  editor = {Chong, Nak-Young and Cho, Young-Jo},
  year = {2016},
  keywords = {collaborative\_manipulation},
  pages = {135--149}