Cooperative Transport

Pulling

University of Pennsylvania

Cooperative Transport

Pushing

Swarm-bots

Cooperative Transport

Caging

Natural Robotics Lab, The University of Sheffield

Occlusion Based Cooperative Transport

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

Occlusion Based Cooperative Transport

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

Occlusion Based Cooperative Transport

Convergence

$$\lim_{t \rightarrow \infty} \textbf{c} \cdot \textbf{F} = \lim_{t \rightarrow \infty} (b_xc_y - b_yc_x) - (a_xc_y - a_yc_x)$$

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

Implementation

$$\dot{x} = \frac{R}{2} (v_r + v_l) \cos \phi$$
$$\dot{y} = \frac{R}{2} (v_r + v_l) \sin \phi$$
$$\dot{\phi} = \frac{R}{2} (v_r + v_l)$$

https://www.anki.com/en-us/cozmo

Implementation

Controller