  In this paper, we introduce a semi-decentralized control technique for a
swarm of robots transporting a fragile object to a destination in an uncertain
occluded environment.The proposed approach has been split into two parts. The
initial part (Phase 1) includes a centralized control strategy for creating a
specific formation among the agents so that the object to be transported, can
be positioned properly on the top of the system. We present a novel triangle
packing scheme fused with a circular region-based shape control method for
creating a rigid configuration among the robots. In the later part (Phase 2),
the swarm system is required to convey the object to the destination in a
decentralized way employing the region based shape control approach. The
simulation result as well as the comparison study demonstrates the
effectiveness of our proposed scheme.
