A decentralized swarm of miniature robots can transport objects around obstacles by forming sub-goal chains using occlusion rules and a finite-state machine.
Distributed path planning for collective transport using homogeneous multi-robot systems , volume =
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Occlusion-Based Object Transportation Around Obstacles With a Swarm of Miniature Robots
A decentralized swarm of miniature robots can transport objects around obstacles by forming sub-goal chains using occlusion rules and a finite-state machine.