http://www.weizmann.ac.il/complex/feinerman/research-activities
University of Pennsylvania
Swarm-bots
Natural Robotics Lab, The University of Sheffield
Occlusion-Based Cooperative Transport with a Swarm of Miniature Mobile Robots
$$\lim_{t \rightarrow \infty} \textbf{c} \cdot \textbf{F} = \lim_{t \rightarrow \infty} (b_xc_y - b_yc_x) - (a_xc_y - a_yc_x)$$
$$\dot{x} = \frac{R}{2} (v_r + v_l) \cos \phi$$ $$\dot{y} = \frac{R}{2} (v_r + v_l) \sin \phi$$ $$\dot{\phi} = \frac{R}{2} (v_r + v_l)$$
https://www.anki.com/en-us/cozmo
By Aadesh Neupane