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

<p>The detailed methodology approach is given in Figure 4:</p> <p>a) Generate a random number of robots to have a swarm.<br> b) Organize the robots in circular formations, where every robot will be in a group related to<br> circular formation. This means every circular formation is a cycle that has cyclic groups of robots<br> on its circumference as shown in Figure 2 and Figure 3. We might have more than one circular<br> formation.<br> c) Move the robots forward in a steady state.<br> d) Avoiding obstacles in case of facing an obstacle, and the swarm must adapt itself based on<br> the type of the obstacle. Various types of obstacles will be considered.<br> e) The swarm reorganizes itself after avoiding the obstacle in the same way as it was before<br> facing the obstacle.&nbsp;</p>