Chapter 53 — Multiple Mobile Robot Systems

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

This video focuses on how to handle a single object using the coordination actions of multiple mobile robots. Each robot is controlled based on caster dynamics. The maneuverability of the object can be changed based on the caster offset of each robot. Caster dynamics in the 3-D space is extended to the 2-D plane using a virtual 3-D caster.
Yasuhisa Hirata, Youhei Kume, Zhi-dong Wang, Kazuhiro Kosuge