Multiple cooperating mobile manipulators

Thomas Sugar, Vijay Kumar

Research output: Contribution to journalConference articlepeer-review

50 Scopus citations


The main goal of this paper is to present a framework and basic control algorithms for coordinating a small team of robots in tasks that involve grasping large objects and transporting them in a two-dimensional environment with obstacles. Each robot consists of a mobile platform and an arm. Some arms are passive while others are active. Our previous work [1] addressed the manipulator design, the architecture, and the communication between robots. In this paper we address the control of the manipulators, the coordination between the platforms for a team of two or three cooperating robots, and the handling of flexible large objects.

Original languageEnglish (US)
Pages (from-to)1538-1543
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
StatePublished - 1999
Externally publishedYes
EventProceedings of the 1999 IEEE International Conference on Robotics and Automation, ICRA99 - Detroit, MI, USA
Duration: May 10 1999May 15 1999

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering


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