Motion Planning Algorithms for a Group of Micro-Robots Carrying an Object

In the area of micro-robotics, control problems have to cope with a number of issues not found on macro-scale robotics. Micro robots moving in the micro-world have limited capabilities and frequently must cooperate in large numbers. In this paper we focus at an object carrying task performed by a number of micro-robots. We study a number of combinations, of agent-object contact types and agent motion principles in order to find algorithms of decomposing a given object trajectory to agent trajectories.