Decentralized Approaches for Cooperative Grasp Planning

Rajkumar Muthusamy, Ville Kyrki

Research output: Chapter in Book/Report/Conference proceedingConference contributionScientificpeer-review

5 Citations (Scopus)


Mobile manipulation of large objects can benefit greatly from the use of multiple cooperating robots. Multi-robot coordination of decentralized systems is, however, challenging due to the nature of such systems. For this reason, many planning problems are yet unexplored. This paper proposes two decentralized approaches for cooperative grasp planning. In our setting, agents do not have information about the embodiments of other agents and each agent thus needs to plan its own actions. The proposed approaches are based on analysing the traditional grasp quality metrics in a probabilistic context which compensates for the incomplete information. Results from simulation experiments demonstrate that the probabilistic approaches clearly improve performance over a baseline approach where the grasps are planned independently. Moreover, their performance is close to that of the optimal centralized approach.

Original languageEnglish
Title of host publication2014 13th International Conference on Control Automation Robotics and Vision, ICARCV 2014
Place of PublicationSingapore
Number of pages6
ISBN (Print)978-1-4799-5199-4
Publication statusPublished - 2014
MoE publication typeA4 Article in a conference publication
EventInternational Conference on Control, Automation, Robotics and Vision - Singapore, Singapore
Duration: 10 Jan 201412 Dec 2014
Conference number: 13

Publication series

NameInternational Conference on Control Automation Robotics and Vision
ISSN (Print)2474-2953


ConferenceInternational Conference on Control, Automation, Robotics and Vision
Abbreviated titleICARCV


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