Regulated Morphogen Gradients for Target Surrounding and Adaptive Shape Formation

In swarm robotics, developing algorithms for self-organizing minimalistic robots has become a popular research topic. Unlike others, may not be able to self-localize themselves, making it very challenging accomplish missions such as surrounding target, whose position is typically unknown. target surroundings, reaching and joining the do always lead satisfactory enclosure of target. Furthermore, impossible individual figure out what global shape should without collective decision making. this article, we make use diffusion reaction two morphogens formation circular swarm. We show that proposed method adaptively form shapes multiple targets. Computer simulations physical experiments using Kilobots are performed assess performance algorithm.