Coordinated Manipulation of Objects in a Plane

Abstract. The ability to manipulate objects is a basic and necessary function of autonomous robots that can perform manufacturing tasks. We present an efficient algorithm for the coordinated manipulation of objects in a plane by independent robot agents and an efficient decision procedure for whether an object can undergo any desired reorientation or not. This algorithm has good stability properties, in that it is not sensitive to small errors in the initial data and it relies on a simple control scheme. Our result is a contribution toward realistic task-level planning for manufacturing.

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