BRAIN Journal-Swarm Robotics with Circular Formation Motion Including Obstacles Avoidance-Figure 4: Methodology flowchart

The detailed methodology approach is given in Figure 4:

a) Generate a random number of robots to have a swarm.
b) Organize the robots in circular formations, where every robot will be in a group related to
circular formation. This means every circular formation is a cycle that has cyclic groups of robots
on its circumference as shown in Figure 2 and Figure 3. We might have more than one circular
formation.
c) Move the robots forward in a steady state.
d) Avoiding obstacles in case of facing an obstacle, and the swarm must adapt itself based on
the type of the obstacle. Various types of obstacles will be considered.
e) The swarm reorganizes itself after avoiding the obstacle in the same way as it was before
facing the obstacle.