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Distributed Cooperative Manipulation under High Level Goals

Abstract

This paper addresses the cooperative manipulation of a single object by N robotic agents under local goal specifications given as Linear Temporal Logic (LTL) formulas. The agents carry collaboratively an object and receive a specification from a high-level planner regarding the desired motion of the object in the workspace. For the execution of the task we propose a decentralized and model-free control protocol that guarantees prescribed transient and steady-state system response without necessitating inter-agent communication. Moreover, we derive a coupled object-agents dynamic model and no feedback of the contact forces/torques is required. Load sharing coefficients are also employed among the agents. Finally, numerical simulations verify the validity of the proposed scheme.

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