Previous Issue
Volume 15, May
 
 

Robotics, Volume 15, Issue 6 (June 2026) – 1 article

  • Issues are regarded as officially published after their release is announced to the table of contents alert mailing list.
  • You may sign up for e-mail alerts to receive table of contents of newly released issues.
  • PDF is the official format for papers published in both, html and pdf forms. To view the papers in pdf format, click on the "PDF Full-text" link, and use the free Adobe Reader to open them.
Order results
Result details
Section
Select all
Export citation of selected articles as:
33 pages, 111352 KB  
Article
Event-Driven Decentralized Control for Multi-Robot Cooperative Manipulation
by Javier Felix-Rendon, Alejandro Díaz, Gustavo Hernández-Melgarejo and Rita Q. Fuentes-Aguilar
Robotics 2026, 15(6), 102; https://doi.org/10.3390/robotics15060102 (registering DOI) - 22 May 2026
Abstract
In this work, we present a decentralized, event-driven control architecture for collaborative rigid object manipulation using omnidirectional wheeled mobile robots. Unlike fixed manipulators, mobile manipulation requires complex coordination between robots, making robustness and fault tolerance critical. Our framework is implemented in ROS2, in [...] Read more.
In this work, we present a decentralized, event-driven control architecture for collaborative rigid object manipulation using omnidirectional wheeled mobile robots. Unlike fixed manipulators, mobile manipulation requires complex coordination between robots, making robustness and fault tolerance critical. Our framework is implemented in ROS2, in which each robot operates independently, with control, kinematic, and motor nodes that communicate via structured message passing. This decentralized design enhances fault tolerance, as individual component failures do not compromise the entire system. To enable perception, an ArUco-based vision system is employed to estimate robot and object poses, supporting the execution of three coordinated subtasks: approaching, grasping, and transporting. The proposed scheme is validated in a Gazebo simulation through different experiments, in which two robots successfully manipulate individual cubes or a beam. Results demonstrate that the proposed event-driven, decentralized control strategy enables consistent coordination, fault-tolerant operation under agent failures, and successful task execution in collaborative manipulation scenarios. Full article
(This article belongs to the Special Issue Advanced Control and Optimization for Robotic Systems)
Show Figures

Graphical abstract

Previous Issue
Back to TopTop