Algorithm

The figure 6 shown below represents the entire algorithm implemented for cooperative transportation.

When a robot in the swarm identifies the object by the help of camera, the robot starts moving towards the object to acquire it. When the robot has reached near the object it maintains certain distance with the object. Once the proximity has been maintained, the robot grasps the object and starts to align towards the goal.                                                                                       Fig 7: Grasping and Enclosing behavior

After the robot has grasped the object, it has to orient towards the goal. On identification of the goal direction it starts to apply force towards the goal. The robot rotates 360 after grasping the object, simultaneously it keeps on taking the light sensor readings with the corresponding yaw value. It then rotates back to the yaw value having the highest light sensor readings i.e. indicating it has oriented towards the goal(light source).                                                                                                                                                 Fig 8: align towards goal behavior