Nonholonomic motion planning for multiple mobile manipulators

We address the problem of motion planning for nonholonomic cooperating mobile robots manipulating and transporting objects while holding them in a stable grasp. We present a general approach based on the calculus of variations that allows us to obtain optimal trajectories and actuator forces/torques for any manoeuvre in the presence of obstacles. In addition, geometric constraints such as joint limits, kinematic constraints such as nonholonomic velocity constraints and dynamic constraints can be easily incorporated into the planning scheme. The application of the method is illustrated by computing motion plans for several examples.