Checking movable configuration space in C-closure object for object caging and handling

In this paper, manipulation of planar objects by multiple cooperating mobile robots using the concept of object closure is addressed. Object closure is a condition under which the object is trapped so that there is no feasible path for the object from the given position to any position that is beyond a specified threshold distance. Once object closure is achieved, the robots can cooperatively drag or flow the trapped object to the desired goal. In this paper, we develop an efficient checking method of movable configuration space in C-closure object for object caging by multiple cooperative robots