An object manipulation by swarm robots inspired by granular convection phenomenon

Random motion of mixed different sized particles causes a segregation and larger particles come up to the top. This phenomenon is a basic characteristic of power system. Here we reports an object transport inspired by this effect, in which the group of robots and a handled object correspond to small particles and a large particle, respectively. Based on this effect, the passive object can be transported to a given destination in spite that each robot does not know the location of the object being transported or the location of the destination. Homogeneous system and two types of heterogeneous system are introduced and examined their performance by computer simulation.