A Potential Field Based Approach Mu1 ti- Rob0 t Manipulation

We describe a framework for controlling and coordinating a group of robots for cooperative manipuhtion tasks. The framework enables a decentralized approach to planning and control. It allows the robots approach the object, organize themselves into a formation that will trap the object, and then transport the object to the desired destination. Our controllers and planners are derived from simple potential fields and the hierarchical composition of potential fields. We show how these potential field based controllers and planners benefit complex group interactions, specijically for manipulating and transporting objects in the plane. Theoretically, we show how we can derive results on formution stability with potential field based controllers in many cases. Simulation results demonstrate successful application to a wide range of examples without showing sensitivity to parameters. Because the framework is decentralized at both trajectory generation level and the estimation and control agent level, our framework can potentially scale to groups of tens and hundreds of robots.