Hierarchical constraint-based formation control strategy for multi-robot cooperative transportation system in warehousing scenarios

Xiang Li, Ming Yue, Heyang Wang, Xia Zou, School of Mechanical Engineering, Dalian University of Technology, State Key Laboratory of High-performance Precision Manufacturing, Dalian University of Technology, School of Management Science and Engineering, Shandong University of Finance and Economics

Journal of Vibration and Control

Published online on October 21, 2025

Abstract

Journal of Vibration and Control, Ahead of Print.
This study proposes a hierarchical constraint-based formation control strategy for the multi-robot cooperative transportation system (MRCTS) in warehousing scenarios, simultaneously achieving trajectory tracking and formation maintenance, and ensuring the ...