|Title||A Study on Force-based Collaboration in Swarms|
|Publication Type||Journal Article|
|Year of Publication||2019|
|Authors||Gabellieri, C, Tognon, M, Sanalitro, D, Palottino, L, Franchi, A|
Cooperative manipulation is a basic skill in groups of humans, ani- mals, and in many robotic applications. Besides being an interesting challenge, communication-less approaches have been applied to groups of robots in order to achieve higher scalability and simpler hardware and software design. We present a generic model and control law for robots cooperatively manipulating an object, for both ground and floating systems.