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Multi-robot manipulation, where two or more robots cooperatively grasp and move objects, is extremely challenging due to the necessity of tightly coupled temporal coordination between the robots. Unfortunately, introducing a human operator does not necessarily ameliorate performance due to the complexity of teleoperating mobile robots with high degrees of freedom. The human operator's attention is divided not only among multiple robots but also between controlling a robot arm and its mobiledoi:10.1109/iros.2011.6094815 dblp:conf/iros/LewisS11 fatcat:e6qcmx3gcbciflmu6inagdymji