We present a decentralized control algorithm for a minimalist robotic swarm lacking memory, explicit communication, or relative position information, to encapsulate multiple diffusive target sources in a bounded environment. The state-of-the-art approaches generally require either local communication or relative localization to provide guarantees of convergence and safety. We quantify trade-offs between task, control, and robot parameters for guaranteed safe convergence to all the sources. Furthermore, our algorithm is robust to occlusions and noise in the sensor measurements as we demonstrate in simulation.

翻译：我们提出了一种去中心化控制算法，适用于缺乏记忆、显式通信或相对位置信息的简约机器人群体，用于在有界环境中封装多个扩散目标源。目前最先进的方法通常需要局部通信或相对定位来保证收敛性和安全性。我们量化了任务、控制及机器人参数之间的权衡，以实现对所有源的保证安全收敛。此外，我们的算法对传感器测量中的遮挡和噪声具有鲁棒性，这一点已在仿真中验证。