Pushing with a group of mobile robots

This work addresses the problem of manipulating an object on a plane using a group of robots in a collaborative way, applying only pushing actions. The proposed method exploits well known control methods from the robotic literature in designing a multi-layered control algorithm to steer the group of robots in the planar environment to perform a pushing action. The proposed approach is extensively validated by means of simulations and real world experiments involving different objects and robot groups with different numerosity.