Map-based Control of Distributed Robot Helpers for Transporting an Object in Cooperation with a Human. - Yasuhisa Hirata; Takeo Takagi; Kazuhiro Kosuge; Hajime Asama; Hayato Kaetsu; Kuniaki Kawabata (ICRA, 2001)

Manipulation of a large object by multiple DR Helpers in cooperation with a human. - Yasuhisa Hirata; Takeo Takagi; Kazuhiro Kosuge; Hajime Asama; Hayato Kaetsu; Kuniaki Kawabata (IROS, 2001)

Motion Control of Multiple DR Helpers Transporting a Single Object in Cooperation with a Human Based on Map Information. - Yasuhisa Hirata; Takeo Takagi; Kazuhiro Kosuge; Hajime Asama; Hayato Kaetsu; Kuniaki Kawabata (ICRA, 2002)