In this research topic we investigate novel control and estimation algorithms for the cooperative manipulation via multiple mobile robots.
In  and  a novel identification and estimation technique is presented that allows the estimation of all the dynamic parameters and current twist of an object that is manipulated by a team of n robots in a fully decentralized way.
In  the dual control problem is addressed again in a fully decentralized way.
- , “Distributed Estimation of the Inertial Parameters of an Unknown Load via Multi-Robot Manipulation”, in 53rd IEEE Conference on Decision and Control, Los Angeles, CA, 2014, pp. 6111-6116.
- , “Decentralized Parameter Estimation and Observation for Cooperative Mobile Manipulation of an Unknown Load using Noisy Measurements”, in 2015 IEEE Int. Conf. on Robotics and Automation, Seattle, WA, 2015, pp. 5517-5522.
- , “Decentralized Motion Control for Cooperative Manipulation with a Team of Networked Mobile Manipulators”, in 2016 IEEE Int. Conf. on Robotics and Automation, Stockholm, Sweden, 2016, pp. 441-446.