# Cooperative Object Transportation using Gibbs Random Fields

arXiv: https://arxiv.org/abs/2109.13734 · HTML: https://mlsanity.com/paper/2109.13734/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 28 Sep 2021.

## Built on by (most cited first, 1 of 1)

- [HeRo 2.0: A Low-Cost Robot for Swarm Robotics Research](https://mlsanity.com/paper/2202.12391/) (2022)

## Abstract (arXiv)

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 em 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 cooperative 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.