Transfer control of a large object by a group of mobile robots

Abstract

In this paper, the authors propose a practical cooperative planning architecture of multiple mobile robots by means of a layered architecture consisting of a physical layer, a geometrical layer, and an informational layer. A “Virtual Impedance Model” is used in order to integrate the three layers. The effectiveness of the proposed architecture is verified by experiments and simulations on the task of transferring a large object by multiple mobile robots.