Resumen de State of the art in control systems for cooperative distributed mobile robots in a healthcare environment
Laura Baiguera Tambutti, Raúl Marín 
, Amparo Tirado Bou, Pedro José Sanz Valero , José Vicente Martí Avilés
In this article we are presenting the state of the art in robotic control systems for healthcare environments. First, we identify the motivation and needs for healthcare robots in the state of the art, then we present an analysis of the challenges for their implementation, the existing solutions presented in literature and their limitations, and finally, our motivation and proposed future contribution in the field. The future work will involve the design of a robust robotic control system architecture for cooperative distributed systems of mobile manipulators used in hospital environments, as well as the validation of the control strategies in a simulated environment. The most promising solutions will be deployed on prototype mobile manipulators and validated in testing environments and, if possible, in real environments.
