A multiple robot system for cooperative object transportation with various requirements on task performing

Describes a multi-robot system which incorporates a behavior-based dynamic cooperation strategy for object transportation with various requirements on task performance. This cooperation strategy is realized in two steps: designing the distributed robot´s cooperative behavioral attributes according to its abilities and task dynamics, and organizing these behavioral attributes so that the team cooperation is realized. Through the behavior design, this strategy allows the dynamic cooperation control to be distributed equally to each robot. Constraint-based behavior is designed to cope with the requirements of task performance. In organizing robots´ abilities, the concept of form closure is introduced as the basic strategy and additional closure rules are introduced to realize various constrained motions