Abstractions and Algorithms for Cooperative Multiple Robot Planar Manipulation

In this paper, we will study abstractions and algorithms for planar manipulation systems using two cooperating robots under uncertainties. We propose a formal framework for developing abstractions, which are simpler models of the original systems while preserving properties of interest, to facilitate the development of planning and control algorithms. Our abstractions are derived from robust motion primitives that correspond to control inputs leading to system trajectories which preserve the properties of interest under uncertainties. We use the proposed framework to construct abstractions and design planning and control algorithms for a multiple robot cooperative manipulation system. We present experimental results to validate our approach.