Cooperative Object Transportation using Gibbs Random Fields

This paper presents a novel methodology that allows a swarm of robots to perform a cooperative transportation task. Our approach consists of modeling the swarm as a Gibbs Random Field (GRF), taking advantage of this framework's locality properties. By setting appropriate potential functions, ro...

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Bibliographic Details
Main Authors: Rezeck, Paulo, Assuncao, Renato M., Chaimowicz, Luiz
Format: Conference Proceeding
Language:English
Subjects:
Adaptation models
Intelligent robots
Navigation
Robot kinematics
Task analysis
Transportation
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Summary:This paper presents a novel methodology that allows a swarm of robots to perform a cooperative transportation task. Our approach consists of modeling the swarm as a Gibbs Random Field (GRF), taking advantage of this framework's locality properties. By setting appropriate potential functions, robots can dynamically navigate, form groups, and perform co- operative transportation in a completely decentralized fashion. Moreover, these behaviors emerge from the local interactions without the need for explicit communication or coordination. To evaluate our methodology, we perform a series of simulations and proof-of-concept experiments in different scenarios. Our results show that the method is scalable, adaptable, and robust to failures and changes in the environment.
ISSN:2153-0866
DOI:10.1109/IROS51168.2021.9635928