Abstract
There has been much attention to the Grasping base coordination controland the Pushing base coordination control in the field of object coordination control by the multiple mobile robots. To ease these rigorous control conditions, people bring out a new way called Caging base object coordination control. Caging is a condition where target object is surrounded by robots in a geometric form we make object transportation work by moving caging formation which is organized by robots in this control. In this study, we define the meaning of Dynamic Object Caging and propose the multiple robot trajectory planning by using Random Seed and Algorithm. In this manuscript, we show the efficacy of Dynamic Object Caging by putting this method in the real robot system and making it work.
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