Multi-Robot Suspended Payload Transport with Spatial Constraints Guided by Feasible Region Construction

Multi-robot transport systems demonstrate remark\u0002able flexibility but are often less effective with large objects due tothe challenges of weight and stability. Cable-suspended transport,however, provides a solution specifically designed to overcomethese limitations. This paper integrates the two approachesby designing a cable-suspended formation transport system toaddress the limitations of conventional multi-robot formations inheavy-load transportation. The system must ensure the cablesremain taut while preventing both payload-ground contact andinter-vehicle collisions. This interplay of constraints results in acoupled boundary phenomenon. To address this, we formulatethe problem as a nonlinear program to identify the feasibleregion. Based on this feasible region, a fixed-time convergencecontroller is then designed to achieve formation transport.Finally, experimental results demonstrate the feasibility of thesystem.