A Decentralized Test Algorithm for Object Closure by Multiple Cooperating Mobile Robots

  • ZhiDong Wang
  • Vijay Kumar


We address the manipulation of planar objects by multiple cooperating mobile robots using the concept of Object Closure. In contrast to Form or Force Closure, Object Closure is a condition under which the object is trapped so that there is no feasible path for the object from the given position to any position that is beyond a specified threshold distance. Once Object Closure is achieved, the robots can cooperatively drag or flow the trapped object to the desired goal. In this paper, we define object closure and develop a set of decentralized algorithms that allow the robots to achieve and maintain Object Closure.


Mobile Robot Feasible Path Object Closure Force Closure Multiple Mobile Robot 
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Copyright information

© Springer-Verlag Tokyo 2002

Authors and Affiliations

  • ZhiDong Wang
    • 1
  • Vijay Kumar
    • 2
  1. 1.Intelligent Robotics Lab., Graduate School of Eng.Tohoku Univ.SendaiJapan
  2. 2.GRASP Lab., CISUniversity of PennsylvaniaPhiladelphiaUSA

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