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Springer Tracts in Advanced Robotics
This paper addresses the problem of transporting objects with multiple mobile robots using the concept of object closure. In contrast to other manipulation techniques that are typically derived from form or force closure constraints, object closure requires the less stringent condition that the object be trapped or caged by the robots. Our basic goal in this paper is to develop decentralized control policies for a group of robots to achieve a condition of object closure, and then, move toward adoi:10.1007/978-3-540-45058-0_16 fatcat:zflkfs5dtfgthewo362lu22zwa