@inproceedings{42979db7413941cca341b7a686374b31,
title = "Nonholonomic Cooperative Manipulation in the Plane using Linear Complementarity Formulation",
abstract = "This paper presents a framework in which a group of nonholonomic wheeled mobile robots are cooperatively utilized to manipulate a polygonal object in the plane. In this framework, the robots are assumed to contact the object without friction, applying forces normal to the object's boundary. Contacts between the wheeled mobile robots and object are resolved through Moreau's time stepping algorithm with a linear complementarity problem. The robots are controlled so that the object's pose is asymptotically stabilized without the need for trajectory planning. Lastly, a recovery controller is proposed that places agents on the boundary of the object with a force closure grasp. An extensive simulation study is presented to support the proposed framework.",
keywords = "conferences, force, friction, mobile robots, time factors, trajectory planning",
author = "Ashenafi, {Nardos Ayele} and Satici, {Aykut C.}",
note = "Publisher Copyright: {\textcopyright} 2021 IEEE.; 5th IEEE Conference on Control Technology and Applications, CCTA 2021 ; Conference date: 08-08-2021 Through 11-08-2021",
year = "2021",
doi = "10.1109/CCTA48906.2021.9658626",
language = "American English",
series = "CCTA 2021 - 5th IEEE Conference on Control Technology and Applications",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "634--639",
booktitle = "CCTA 2021 - 5th IEEE Conference on Control Technology and Applications",
}