5 citations · 10 across the 9 of their papers we have counts for
9 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…
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…
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…
FHT-Map: Feature-based Hierarchical Topological Map for Relocalization and Path Planning
Kun Song, Wenhang Liu, Gaoming Chen +2
Topological maps are favorable for their small storage compared to geometric map. However, they are limited in relocalization and path planning capabilities. To solve this problem,…
Forward Kinematics of Object Transporting by a Multi-Robot System with a Deformable Sheet
Jiawei Hu, Wenhang Liu, Jingang Yi +1
We present object handling and transporting by a multi-robot team with a deformable sheet as a carrier. Due to the deformability of the sheet and the high dimension of the whole sy…
A Novel Graph-based Motion Planner of Multi-Mobile Robot Systems with Formation and Obstacle Constraints
Wenhang Liu, Jiawei Hu, Heng Zhang +2
Multi-mobile robot systems show great advantages over one single robot in many applications. However, the robots are required to form desired task-specified formations, making feas…
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 Object Transport Motion Planning with a Deformable Sheet
Jiawei Hu, Wenhang Liu, Heng Zhang +2
Using a deformable sheet to handle objects is convenient and found in many practical applications. For object manipulation through a deformable sheet that is held by multiple mobil…