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In this paper, we address the cooperative towing of payloads by multiple mobile robots that move in the plane. Robots are attached via cables to an object or a pallet carrying a payload, and they coordinate their motion to manipulate the payload through a planar warehouselike environment. We formulate a quasistatic model for manipulation and derive equations of motion that yield the motion of the payload for a prescribed motion of the robots in the presence of dry friction and tension constraints. We present the experimental results that demonstrate the basic concepts.
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Cheng et al. (2008) studied this question.
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