基于遮挡的微型移动机器人群体协作搬运凹形物体
Occlusion-Based Cooperative Transport for Concave Objects with a Swarm of Miniature Mobile Robots
AI总结：
本文提出一种基于遮挡的分散式群体搬运策略，通过向凹形物体空腔填充机器人形成“伪物体”，在不依赖先验几何知识与显式通信的条件下实现凹形物体的协作搬运。
摘要：
本文提出了一种基于遮挡的策略，利用一群移动机器人集体搬运凹形物体。我们旨在克服使用分散式方法搬运凹形物体的挑战。该任务的有趣之处在于，智能体对物体的几何形状没有任何先验知识，并且彼此之间不进行显式通信。其概念是通过在凹形物体的空腔中填充若干机器人来消除其凹性，然后对新形成的凸形物体或“伪物体”执行基于遮挡的搬运策略。我们将工作分为两部分：各种凹形物体的凹腔填充，以及凸形物体的基于遮挡的集体搬运。
英文摘要：
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.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
