I Introduction
As the number of robots in a team increases, there has been a shift towards a swarming paradigm where robots are programmed with simple but identical behaviors that can be realized with limited on-board computational, communication and sensing resources. In nature, we often see such swarming behaviors, specifically in biological systems composed of large numbers of organisms which individually lack either the communication or computational capabilities required for centralized control. Some examples of such behaviors can be seen in the group dynamics in beehives [1], ant colonies [2], bird flocks, steer herds and fish schools [3].