Adaptive swarming by exploiting hydrodynamic interaction based on Stokesian Dynamics method

This paper discusses a fully decentralized algorithm able to create an adaptive swarm of autonomous mobile robots from the viewpoint of "computational physics". To this end, we particularly focus on "Stokesian Dynamics method". Simulation results indicate that the proposed algorithm can control the shape of the swarm appropriately according to the current situation without losing the coherence of the swarm.