Coordinated Kinematic Control of Compliantly Coupled Multirobot Systems in an Array Format

This paper presents coordinated kinematic control of compliantly coupled multirobot systems for payload transportation. In the robot, unicycle-type axles are connected to a moving platform in an array format using compliant frames. A coordinate system is attached to an ideal center point on the platform to establish robot kinematics. In order to drive the system along a reference trajectory, we coordinate axle velocity commands, while considering frame compliance, nonholonomic constraints, and rigid body kinematics, respectively. These commands are further coordinated to consider configuration stability and physical limitations. Simulation and experimental results evaluate the coordination algorithms for various trajectories.