{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,7,24]],"date-time":"2026-07-24T11:24:07Z","timestamp":1784892247663,"version":"3.55.0"},"reference-count":21,"publisher":"SAGE Publications","issue":"7-8","license":[{"start":{"date-parts":[[2004,8,1]],"date-time":"2004-08-01T00:00:00Z","timestamp":1091318400000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[2004,8]]},"abstract":"<jats:p>In this paper we address the problem of transporting objects with multiple mobile robots using the concept of \u201cobject closure\u201d. In contrast to other manipulation techniques that are typically derived from form or force closure constraints, object closure requires the less stringent condition that the object be trapped or caged by the robots. Our basic goal in this paper is to develop decentralized control policies for a group of robots to move toward a goal position while maintaining a condition of object closure. We present experimental results that show polygonal mobile robots controlled using visual feedback, transporting a convex polygonal object in an obstacle free environment toward a prescribed goal.<\/jats:p>","DOI":"10.1177\/0278364904045477","type":"journal-article","created":{"date-parts":[[2004,9,13]],"date-time":"2004-09-13T20:12:22Z","timestamp":1095106342000},"page":"783-795","source":"Crossref","is-referenced-by-count":144,"title":["Decentralized Algorithms for Multi-Robot Manipulation via Caging"],"prefix":"10.1177","volume":"23","author":[{"given":"Guilherme A. S.","family":"Pereira","sequence":"first","affiliation":[{"name":"VERLab\u2013Vision and Robotics Laboratory, DCC, Universidade                         Federal de Minas Gerais, Belo Horizonte, MG 31270-010 Brazil"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Mario F. M.","family":"Campos","sequence":"additional","affiliation":[{"name":"VERLab\u2013Vision and Robotics Laboratory, DCC, Universidade                         Federal de Minas Gerais, Belo Horizonte, MG 31270-010 Brazil"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Vijay","family":"Kumar","sequence":"additional","affiliation":[{"name":"GRASP Laboratory, University of Pennsylvania, Philadelphia, PA                         19104-6228, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"179","published-online":{"date-parts":[[2004,8,1]]},"reference":[{"key":"atypb1","doi-asserted-by":"crossref","unstructured":"Davidson, C., and Blake, A. 1998. 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