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A concept of mutual transportation by cooperative multiple mobile robots is proposed in this paper, which enables robots to process complicated or heavy-duty tasks, and overcome the large obstruction in an environment. A method of mutual transportation utilizing forklift mechanisms is introduced with discussion on the lifting process and moving process. Cooperative mobile robots including a holonomic omni-directional platform and a forklift mechanism are developed. Finally, as an example of applications of mutual transportation, step-climbing motion is presented, and the motion realized by the developed mobile robots is shown.
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Asama et al. (2002) studied this question.