5 papers
Distributed Motion Control of Multiple Mobile Manipulators for Reducing Interaction Wrench in Object Manipulation
Wenhang Liu, Meng Ren, Kun Song +3
In real-world cooperative manipulation of objects, multiple mobile manipulator systems may suffer from disturbances and asynchrony, leading to excessive interaction wrenches and po…
A Novel Semi-Coupled Hierarchical Motion Planning Framework for Cooperative Transportation of Multiple Mobile Manipulators
Heng Zhang, Haoyi Song, Wenhang Liu +3
Multiple mobile manipulators show superiority in the tasks requiring mobility and dexterity compared with a single robot, especially when manipulating/transporting bulky objects. H…
Multi-Robot Rendezvous in Unknown Environment with Limited Communication
Kun Song, Gaoming Chen, Wenhang Liu +1
Rendezvous aims at gathering all robots at a specific location, which is an important collaborative behavior for multi-robot systems. However, in an unknown environment, it is chal…
A Novel Planning Framework for Complex Flipping Manipulation of Multiple Mobile Manipulators
Wenhang Liu, Meng Ren, Kun Song +2
During complex object manipulation, manipulator systems often face the configuration disconnectivity problem due to closed-chain constraints. Although regrasping can be adopted to…
RHAML: Rendezvous-based Hierarchical Architecture for Mutual Localization
Gaoming Chen, Kun Song, Xiang Xu +2
Mutual localization serves as the foundation for collaborative perception and task assignment in multi-robot systems. Effectively utilizing limited onboard sensors for mutual local…