A framework for kinematic and dynamic motion planning for a formation of mobile robots

Thomas Sugar, Jaydev P. Desai

Research output: Contribution to journalArticlepeer-review


We present a modeling framework which combines kinematic and dynamic aspects of a motion planning task. This paper presents the control algorithms for multiple mobile manipulators cooperatively grasping and transporting an object. The planning and control tasks are decentralized, and the framework explicitly incorporates the protocols used to coordinate the robots in the team. The framework is flexible in the sense that it scales with the number of robots and controllers.The problems of: a) motion planning (kinematic) and b) force sensing (dynamic) for a formation of mobile manipulators are decoupled. A graph theoretic approach coordinates the motion planning for the robots while stiffness matrices describe the grasping of an object. Experimental results for a team of robots aze presented, and simulation results aze used to illustrate the extensions of our approach to a larger team formation of robots.

Original languageEnglish (US)
Pages (from-to)307-322
Number of pages16
JournalIntelligent Automation and Soft Computing
Issue number4
StatePublished - Jan 2004


  • Coordination of multiple robots
  • Formation
  • Mobile manipulator
  • Motion planning

ASJC Scopus subject areas

  • Software
  • Theoretical Computer Science
  • Computational Theory and Mathematics
  • Artificial Intelligence


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