  In this work, we consider a multi-wheeled payload transport system. Each of
the wheels can be selectively actuated. When they are not actuated, wheels are
free moving and do not consume battery power. The payload transport system is
modeled as an actuated multi-agent system, with each wheel-motor pair as an
agent. Kinematic and dynamic models are developed to ensure that the payload
transport system moves as desired. We design optimization formulations to
decide on the number of wheels to be active and which of the wheels to be
active so that the battery is conserved and the wear on the motors is reduced.
Our multi-level control framework over the agents ensures that near-optimal
number of agents is active for the payload transport system to function.
Through simulation studies we show that our solution ensures energy efficient
operation and increases the distance traveled by the payload transport system,
for the same battery power. We have built the payload transport system and
provide results for preliminary experimental validation.
