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Occlusion Based Cooperative Transport with a Swarm of Miniature Mobile Robots
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Occlusion - Based Cooperative Transport with a Swarm of Miniature Mobile Robots

Category : Robotics

Sub Category : Swarm Robot

Project Code : ITROB05

Project Abstract


This paper proposes a strategy for transporting a large object to a goal using a large number of mobile robots that are significantly smaller than the object. The robots only push the object at positions where the direct line of sight to the goal is occluded by the object. This strategy is fully decentralized and requires neither explicit communication nor specific manipulation mechanisms. We prove that it can transport any convex object in a planar environment. We implement this strategy on the e-puck robotic platform and present systematic experiments with a group of 20 e-pucks transporting three objects of different shapes. The  objects were successfully transported to the goal in 43 out of 45 trials. When using a mobile goal, teleported by a human, the object could be navigated through an environment with obstacles.Wealso tested the strategy in a 3-D environment using physics-based computer simulation. Due to its simplicity, the transport strategy is particularly suited for implementation on microscale robotic



Existing System

Proposed System


The traditional tanker is limited intelligence and mainly operated by human operator. Also the mechanism design is modeling as a 2 (degree of freedom) robot arm, which is rather restricted in operating orientation angles.

Drawbacks of proposed system:

Ø  Slow response

Ø  More time consumed

Ø  Human loss


This paper presents the design, development andvalidation of robotic system forindustrial  applications.

Advantages of proposed system:

Ø  Wireless control & monitoring

Ø  Save soldiers life

Ø  More efficient surveillance

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