Decentralized Algorithms for Multirobot Manipulation via Caging

This paper addresses the problem of transporting objects with multiple mobile robots using the concept of object closure. In contrast to other manipulation techniques that are typically derived from form or force closure constraints, object closure requires the less stringent condition that the object be trapped or caged by the robots. Our basic goal in this paper is to develop decentralized control policies for a group of robots to achieve a condition of object closure, and then, move toward a goal position while maintaining this condition. We present experimental results that show car-like robots controlled using visual feedback, transporting an object in an obstacle free environment toward a prescribed goal.