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We consider the problem of transporting a long object, such as a ladder, through a 90 degree corner in a corridor using two omni-directional robots that do not necessarily have i d e n tical characteristics. A distributed algorithm is presented in which each robot computes its own motion based on the current and goal positions of the ladder, the locations of the walls, and the motion of the other robot observed indirectly through the link between the robot and the ladder. We e v aluate thedoi:10.1109/robot.2001.933080 dblp:conf/icra/AsahiroCMSY01 fatcat:ia5dap2ujzfgff7bitmf2spclq