This paper introduces a method for designing spatially intelligent robot swarm behaviors to localize concealed radio emitters. We use differential evolution to generate geometric patrol routes that localize unknown signals independently of emitter parameters, a key challenge in electromagnetic surveillance. Patrol shape and antenna type are shown to influence information gain, which in turn determines the effective triangulation coverage. We simulate a four-robot swarm across eight configurations, assigning pre-generated patrol routes based on a specified patrol shape and sensing capability (antenna type: omnidirectional or directional). An emitter is placed within the map for each trial, with randomized position, transmission power and frequency. Results show that omnidirectional localization success rates are driven primarily by source location rather than signal properties, with failures occurring most often when sources are placed in peripheral areas of the map. Directional antennas are able to overcome this limitation due to their higher gain and directivity, with an average detection success rate of 98.75% compared to 80.25% for omnidirectional. Average localization errors range from 1.01-1.30 m for directional sensing and 1.67-1.90 m for omnidirectional sensing; while directional sensing also benefits from shorter patrol edges. These results demonstrate that a swarm's ability to predict electromagnetic phenomena is directly dependent on its physical interaction with the environment. Consequently, spatial intelligence, realized here through optimized patrol routes and antenna selection, is a critical design consideration for effective robotic surveillance.

翻译：本文提出了一种设计空间智能机器人集群行为以定位隐蔽无线电发射源的方法。我们采用差分进化算法生成几何巡逻路径，该路径能够独立于发射源参数对未知信号进行定位，这是电磁监视中的一个关键挑战。研究表明，巡逻形状和天线类型会影响信息增益，而信息增益又决定了有效的三角测量覆盖范围。我们模拟了一个四机器人集群在八种配置下的运行，根据指定的巡逻形状和感知能力（天线类型：全向或定向）分配预生成的巡逻路径。每次试验中，在地图内随机放置一个发射源，其位置、发射功率和频率均随机设定。结果表明，全向天线的定位成功率主要受信号源位置而非信号特性的影响，当信号源放置在地图边缘区域时，失败最为频繁。定向天线凭借其更高的增益和方向性能够克服这一局限，其平均检测成功率为98.75%，而全向天线为80.25%。定向感知的平均定位误差范围为1.01-1.30米，全向感知为1.67-1.90米；同时定向感知还受益于更短的巡逻边。这些结果表明，集群预测电磁现象的能力直接取决于其与环境的物理交互。因此，通过优化巡逻路径和天线选择实现的空间智能，是设计有效机器人监视系统的关键考量因素。