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Communication-Free Obstacle Localization from Aggregate Wrench Measurements in Leader--Follower Cooperative Transport

arXiv · AI, language, vision and robotics · article · Oct 6, 2026 · UTC

We consider obstacle localization for a team of robots cooperatively transporting a rigid payload without explicit inter-robot communication. A leader robot directs the payload's motion, while follower robots assist and react to locally detected obstacles. The leader measures the followers' aggregate wrench, i.e., the combined force and torque they exert on the payload, but cannot directly distinguish their individual reactions. We design a follower control law that allows the leader to recover obstacle locations from these measurements. Each follower resists motion toward nearby obstacles, re

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