Dynamic Swarm Robotics for Sustaining Natural Environments

The Dynamic Swarm Robotics project implements a fully decentralised control strategy in which each robot maintains an equilateral triangular lattice while converging on a specified goal. Agents compute their motion using four local interaction forces—cohesion toward the swarm centroid, alignment toward the target, inter-robot repulsion, and obstacle avoidance—to ensure both formation stability and collision-free navigation. MATLAB-based simulations confirm that the triangular lattice persists even in cluttered environments, and that “virtual” obstacle agents enable robots to bypass barriers and seamlessly reform the lattice.