Coordinated Transportation of a Single Object by a Group of Nonholonomic Mobile Robots

  • Xin Yang
  • Keigo Watanabe
  • Kazuo Kiguchi
  • Kiyotaka Izumi


In this paper, we propose a decentralized control system for transporting a single object by a group of nonholonomic mobile robots. One of these mobile robots acts as a leader, who is assumed to be able to plan and manipulate the omnidirectional motion of the object. Other robots, referred to as followers, cooperatively transport the object by keeping the initial relative position to the object. Different from the conventional leader-follower type system of transporting a signal object by multiple robots in coordination, the present follower can plan an action based on its local coordinate and does not need any absolute positional information. The simulation result exhibits a good performance of the proposed system.


Mobile Robot Kinematic Model Multiple Robot Mobile Base Driving Wheel 
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Copyright information

© Springer-Verlag Tokyo 2002

Authors and Affiliations

  • Xin Yang
    • 1
  • Keigo Watanabe
    • 2
  • Kazuo Kiguchi
    • 2
  • Kiyotaka Izumi
    • 2
  1. 1.Department of Production Control Technology, Division of Engineering Systems and TechnologySaga UniversitySagaJapan
  2. 2.Department of Advanced Systems Control Engineering, Graduate School of Science and EngineeringSaga UniversitySagaJapan

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