Pheromone Inspired Morphogenic Distributed Control for Self-organization of Autonomous Aerial Robots.

A central issue in distributed formation of swarm is enabling robots with only a local view of their environment to take actions that advance global system objectives (emergence of collective behavior). This paper describes a bio-inspired control algorithm using pheromone for coordinating a swarm of identical flying robots to spatially self-organize into arbitrary shapes using local communication maintaining a certain level of density.