Revolutionary entrapment model of uniformly distributed swarm robots in morphogenetic formation

This study proposes a method for uniformly revolving swarm robots to entrap multiple targets, which is based on a gene regulatory network, an adaptive decision mechanism, and an improved Vicsek-model.Using the gene regulatory network method, the robots can generate entrapping patterns according to the environmental input, including the positions of the targets and obstacles. Next, an adaptive decision mechanism is proposed, allowing each robot to choose the most well-adapted capture point on the pattern, based on its environment. The robots employ an improved Vicsek-model to maneuver to the planned capture point smoothly, without colliding with other robots or obstacles. The proposed decision mechanism, combined with the improved Vicsek-model, can form a uniform entrapment shape and create a revolving effect around targets while entrapping them. This study also enables swarm robots,with an adaptive pattern formation, to entrap multiple targets in complex environments. Swarm robots can be deployed in the military field of unmanned aerial vehicles’(UAVs) entrapping multiple targets.Simulation experiments demonstrate the feasibility and superiority of the proposed gene regulatory network method.