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This paper addresses the problem of using three disc-shaped robots to manipulate a polygonal object in the plane in the presence of obstacles. The proposed approach is based on the computation of maximal discs (dubbed maximum independent capture discs, or MICaDs) where the robots can move independently while preventing the object from escaping their grasp. It is shown that, in the absence of obstacles, it is always possible to bring a polygonal object from any configuration to any other onedoi:10.1109/tra.2002.801049 fatcat:mf763zdbw5ak7bzxbsot6r4hve