用微型机器人集群填满凹形物体腔体，实现无通信协同搬运
Occlusion-Based Cooperative Transport for Concave Objects with a Swarm of Miniature Mobile Robots
- 通过填充机器人消除凹面，形成可搬运的伪凸体
- 无需事先知道物体形状，也不需机器人间通信
- 适合无先验信息的复杂形状物体搬运任务
本文提出一种基于遮挡的策略，利用一群微型移动机器人集体搬运凹形物体。目标是克服去中心化方法在搬运凹形物体时的挑战。该任务的有趣之处在于，机器人对物体几何形状一无所知，且彼此不进行显式通信。核心思想是将若干机器人填入物体的凹腔中，从而消除凹性，形成新的凸形物体（即“伪物体”），再基于遮挡机制实施搬运。研究分为两部分：一是对多种凹形物体的凹腔填充，二是基于遮挡的凸形物体集体搬运。
原文摘要 · Abstract (English)
An occlusion based strategy for collective transport of a concave object using a swarm of mobile robots has been proposed in this paper. We aim to overcome the challenges of transporting concave objects using decentralized approach. The interesting aspect of this task is that the agents have no prior knowledge about the geometry of the object and do not explicitly communicate with each other. The concept is to eliminate the concavity of the object by filling a number of robots in its cavity and then carry out an occlusion based transport strategy on the newly formed convex object or "pseudo object". We divide our work into two parts: concavity filling of various concave objects and occlusion based collective transport of convex objects.
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