Summary: Optimal Control of Multiple Robot Systems with
Friction using MPCC
Jufeng Peng
Mathematical Sciences
Rensselaer Polytechnic Institute
Troy, NY 12180
Email: pengj@rpi.edu
Mihai Anitescu
Mathematics and Computer Science
Argonne National Lab
Argonne, IL 60439
Email: anitescu@mcs.anl.gov
Srinivas Akella
Computer Science
Rensselaer Polytechnic Institute
Troy, NY 12180
Email: sakella@cs.rpi.edu
Abstract-- This paper studies optimal control of multiple robot
systems with frictional contact. The task is to move the robots into
goal regions with specified velocities using external control forces.

Source: Akella, Srinivas - Department of Computer Science, University of North Carolina, Charlotte

Collections: Engineering; Computer Technologies and Information Sciences