Abstract
The coordination and control of a team of small mobile robots may be achieved by enforcing both positional and orientational constraint conditions so that the formation is maintained during the process of transporting a large and heavy object by the team. When they travel on the road with uneven surfaces, heights of some grippers of the arms on the mobile robots must be adjusted by moving their joints so that they all are at an even level of the object. Stability of the formation is presented in terms of the bound of the transient response of the team.
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