Understanding workspace structure of multi-robot systems

The goal of the work presented is to provide a more in-depth understanding of multi-robot systems workspace. In this sense, reachable and dexterous workspace for a class of multi-robot systems are characterized. These workspaces are expressed as a function of individual robot workspaces, base relative positions, and grasping relative configurations. A great advantage of the proposed method in comparison with others is its applicability to the design of multi-robot working cells.