Handling of a single object by multiple mobile robots based on caster-like dynamics

When multiple robots manipulate an object, positional errors due to wheel slippage are the most common problems. To handle this uncertainty, each robot is controlled as if it has caster dynamics. The offset between the friction and wheel axis guide the planning of each robot. This algorithm is general enough to work with robots avoiding obstacles as the object is being manipulated. It can also be extended to 3-D space so that objects can be manipulated in the air by multiple robots.