I. Introduction
Swarm robotics is an emerging field of research. The individual entities of a swarm work hand in hand together to fulfill a task that would be impossible to solve by only one of them. In [1] , swarm robotics is defined as “using a fully distributed control paradigm and relatively simple robots to achieve coordinated behavior at the group level.” It follows a self-organizing approach, in which microscopic local decisions of individual robots, based on locally observed information, emerge to a collective or macroscopic behavior.