Coordinated motion of a group of mobile robots bearing a common load is investigated. By extending the results of research with similar multi-robot material handling systems, a supervisory control is derived that provides an optimal distribution of work among the robots while accounting for the robots nonholonomic constraints.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">></ETX>
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Stilwell et al. (2002) studied this question.
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