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This paper addresses the problem of cooperative transportation of an objectrigidly grasped by N robotic agents. We propose a Nonlinear Model PredictiveControl (NMPC) scheme that guarantees the navigation of the object to a desiredpose in a bounded workspace with obstacles, while complying with certain inputsaturations of the agents. The control scheme is based on inter-agentcommunication and is decentralized in the sense that each agent calculates itsown control signal. Moreover, the proposed methodology ensures that the agentsdo not collide with each other or with the workspace obstacles as well as thatthey do not pass through singular configurations. The feasibility andconvergence analysis of the NMPC are explicitly provided. Finally, simulationresults illustrate the validity and efficiency of the proposed method.

Communication-based Decentralized Cooperative Object Transportation Using Nonlinear Model Predictive Control