Coordinated motion control of multiple robots without position information of each robot

Abstract

We propose a decentralized control algorithm of multiple mobile robots transporting a single object in coordination. In this algorithm, each robot is controlled as if it has a caster-like dynamics and transports a single object in coordination with other robots without using the geometric relations among robots. The proposed control algorithm is experimentally applied to multiple mobile robots. Experimental results illustrate the validity of the proposed control algorithm.