Occlusion-Based Object Transportation Around Obstacles With a Swarm of Miniature Robots
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arXiv
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| Autores principales: | , |
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| Formato: | Preprint |
| Publicado: |
2026
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| _version_ | 1866917490457575424 |
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| author | Queiroz, Breno Cunha MacRae, Daniel |
| author_facet | Queiroz, Breno Cunha MacRae, Daniel |
| contents | Swarm robotics utilises decentralised self-organising systems to form complex collective behaviours built from the bottom-up using individuals that have limited capabilities. Previous work has shown that simple occlusion-based strategies can be effective in using swarm robotics for the task of transporting objects to a goal position. However, this strategy requires a clear line-of-sight between the object and the goal. In this paper, we extend this strategy by allowing robots to form sub-goals; enabling any member of the swarm to establish a wider range of visibility of the goal, ultimately forming a chain of sub-goals between the object and the goal position. We do so while preserving the fully decentralised and communication-free nature of the original strategy, while maintaining performance in object-free scenarios. In five sets of simulated experiments, we demonstrate the generalisability of our proposed strategy. Our finite-state machine allows a sufficiently large swarm to transport objects around obstacles that block the goal. The method is robust to varying starting positions and can handle both concave and convex shapes. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2605_13006 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | Occlusion-Based Object Transportation Around Obstacles With a Swarm of Miniature Robots Queiroz, Breno Cunha MacRae, Daniel Robotics Multiagent Systems I.2.11; I.2.9 Swarm robotics utilises decentralised self-organising systems to form complex collective behaviours built from the bottom-up using individuals that have limited capabilities. Previous work has shown that simple occlusion-based strategies can be effective in using swarm robotics for the task of transporting objects to a goal position. However, this strategy requires a clear line-of-sight between the object and the goal. In this paper, we extend this strategy by allowing robots to form sub-goals; enabling any member of the swarm to establish a wider range of visibility of the goal, ultimately forming a chain of sub-goals between the object and the goal position. We do so while preserving the fully decentralised and communication-free nature of the original strategy, while maintaining performance in object-free scenarios. In five sets of simulated experiments, we demonstrate the generalisability of our proposed strategy. Our finite-state machine allows a sufficiently large swarm to transport objects around obstacles that block the goal. The method is robust to varying starting positions and can handle both concave and convex shapes. |
| title | Occlusion-Based Object Transportation Around Obstacles With a Swarm of Miniature Robots |
| topic | Robotics Multiagent Systems I.2.11; I.2.9 |
| url | https://arxiv.org/abs/2605.13006 |