Modeling and Control of a Holonomic Mobile Robots Box Pushing System with Non-Slipping Constraints on Box Touching Points

This document delves into cooperative target enclosing and tracking control for multiple holonomic mobile robots. Considering non-slipping constraints, a comprehensive model is developed for a multiple mobile robot box-pushing system. Constraint and actuation forces are determined through mathematical models, allowing effective control strategies to be implemented. The efficacy of this approach in moving the box toward its intended destination is showcased by simulation results.