  We propose a decentralized algorithm to collaboratively transport arbitrarily
shaped objects using a swarm of robots. Our approach starts with a task
allocation phase that sequentially distributes locations around the object to
be transported starting from a seed robot that makes first contact with the
object. Our approach does not require previous knowledge of the shape of the
object to ensure caging. To push the object to a goal location, we estimate the
robots required to apply force on the object based on the angular difference
between the target and the object. During transport, the robots follow a
sequence of intermediate goal locations specifying the required pose of the
object at that location. We evaluate our approach in a physics-based simulator
with up to 100 robots, using three generic paths. Experiments using a group of
KheperaIV robots demonstrate the effectiveness of our approach in a real
setting.
  Keywords: Collaborative transport, Task Allocation, Caging, Robot Swarms
