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An algorithm for testing object caging condition by multiple mobile robots

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3 Author(s)
Zhidong Wang ; Syst. Robotics Lab, Tohoku Univ., Sendai, Japan ; Hirata, Y. ; Kosuge, K.

We address the manipulation of planar objects by multiple cooperating mobile robots using the concept of object closure, a condition under which the object is trapped so that there is no feasible path for the object from the given position to any position that is beyond a specified threshold distance. In this paper, we develop a distributed testing algorithm of object caging by multiple cooperative robots. By implementation of a complete testing based on the sufficient and necessary condition of object closure, the proposed algorithm works efficiently even for case to cage an irregular object.

Published in:

Intelligent Robots and Systems, 2005. (IROS 2005). 2005 IEEE/RSJ International Conference on

Date of Conference:

2-6 Aug. 2005