Cooperative Optimal Multi-Robot Formation Arrangement for Object Pushing

Abstract

This paper presents a method for coordinating and optimizing multi-robot formations to push objects along predefined trajectories under frictional constraints. A Particle Swarm Optimization (PSO) framework is proposed to determine the optimal contact point positions on the object boundary. The optimization combines criteria derived from grasp and Gram matrix analysis to generate a wide range of wrench to handle diverse manipulation tasks and uniform distribution of pushing directions. These are integrated into a into a comprehensive cost function that guides the swarm toward stable and controllable configurations. Based on the selected positions, a simple PID-based controller is employed to generate the desired wrench for path tracking. Simulation results demonstrate that the strategy has produced suitable contact point locations and provided efficiency and stability in the process of pushing the object. The combined approach offers a practical and computationally efficient framework for pushing-based manipulation, with potential applications in robotic handling of objects that cannot be grasped.