Cooperative transport of planar objects by multiple mobile robots using object closure

This paper addresses the problem of transporting objects by 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. We present experimental results that show car-like robots controlled using visual feedback, transporting an object in an obstacle free environment toward a prescribed goal.