Distributed moving algorithm of swarm robots to enclose an invader

When swarm robots exist in the same workspace, first we have to decide robots in order to accomplish some tasks. There have been a lot of works that research how to control robots in cooperation. The interest in using swarm robot systems is due to their unique characteristics such as increasing the redundancy and the flexibility of mission execution. When an invader is discovered, swarm robots have to enclose a invader through a variety of path, expecting invaderpsilas move, in order to effective enclose. In this paper, we propose an effective swarm robots enclosing and division moving algorithm in a two dimensional map.