Y-Pod formation of swarm robots using amber force fields

In this paper proposes a new idea inspired form molecular dynamics theory, i.e. amber force fields to form a Y-Pod formation of swarm robots. From a molecular dynamics point of view, molecules which contain large amounts of atoms form desired crystallization formations. So, we barrowed this idea and each atom is treated as an atom robot to form the desired pattern. In molecules, bond length and bond angle parameters are chosen from empirical values. However, in our task the chosen simulation tuned the parameters to eventually control the robots in terms of force fields and alignment to overcome cohesiveness and consensus problems. Finally, an implemented virtual leader carried Y-Pod formation to reach the desired destination point.