On cooperative work of distributed robot maintaining retention of swarm ~ in the case of going up slope ~

This paper investigates the cooperative work of distributed robot maintaing retention of swarm, especially in the case of going up slope. Our control law to keep the high retention of the robot swarm has been developed, and its effectiveness for an environment with obstacles has been confirmed by using ODE (Open Dynamics Engine). This paper considers an environment with the slope and investigates the phenomenon that one robot can not go up the slope but robot swarm can do it.