VVCM

ROS package for a multi-robot transporting system with a deformable sheet, use virtual variable cables model (VVCM) to model the system.

Usage

Use a stable forward kinematics algorithm to compute the object pose given the robot formation and the deformable sheet:

$ roslaunch vvcm_fk vvcm_test.launch 

Acknowledgements

@article{ma2026stable,
  title = {Stable Kinematics for Multi-Robot Collaborative Transporting System with a Deformable Sheet},
  author = {Ma, Wenyao and Hu, Jiawei and Li, Jiamao and Yi, Jingang and Xiong, Zhenhua},
  year = 2026,
  journal = {IEEE Transactions on Robotics},
  volume = {<To be assigned>},
  pages = {<To be assigned>},
  doi={10.1109/TRO.2026.3653870}
}