Formation-based cooperative transportation by a group of non-holonomic mobile robots

Iterative learning control with input sharing for multi-agent consensus tracking

“…As the satellite moving around the earth is a periodic task, the formation problem can fit perfectly in the ILC framework. Another example is the cooperative load transportation by several mobile robots [12,13]. Due to the task's repetitiveness, the cooperative transportation can also be studied in the ILC framework.…”

Control of two manipulation points of a cooperative transportation system with two car-like vehicles following parametric curve paths

“…These include control methods for multiple mobile robots with compliant mechanisms between an object and the robots, e.g., couplers consisting of active prismatic links and passive rotary joints [8], mechanical sliders attached to follower robots [12], two passive-joint manipulators [1], two-joint arms with passive prismatic joints [36] [37], slideable and rotatable mechanical supports [18]; a control algorithm for two mobile robots, one of which is a leader robot and the other of which behaves as a caster robot [11]; and a control method for multiple mobile robots in formation, in which an object is assumed to be a virtual leader robot and the robots are followers [38].…”

“…Cooperative transportation systems in these control methods [8] [12] [11] [36] [1] [38] [18] [37] consist of multiple unicycle-type vehicles, which are differentially driven wheeled mobile robots. Whereas a differentially driven wheeled mobile robot can change its orientation without moving, a car-like vehicle must move in order to change its orientation, i.e., control of a car-like vehicle is more complex than that of a differentially driven wheeled mobile robot.…”

Decentralized parameter estimation and observation for cooperative mobile manipulation of an unknown load using noisy measurements

“…Many aspects of cooperative robotics have been recently studied in great detail, such as optimal control [1], path planning [2], leader-follower control schemes [3]. However, most of the prior work models the payload with a point mass, or with a rigid body with known dynamical parameters [4], [5].…”