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Abstract. In this work the swarm behavior principles of Craig W. Reynolds are combined with deterministic traits. This is done by using leaders with motions based on space filling curves like Peano and Hilbert. Our goal is to evaluate how the swarm of agents works with this approach, supposing the entire swarm will better explore the entire space. Therefore, we examine di↵erent combinations of Peano and Hilbert with the already known swarm algorithms and test them in a practical challenge for the harvesting of manganese nodules on the sea ground with the use of autonomous robots. We run experiments with various settings, then evaluate and describe the results. In the last section some further development ideas and thoughts for the expansion of this study are considered.

Abstract. The approaches in this work combine the swarm behavior principles of Craig W. Reynolds with space filling curves movements. We intend to evaluate how the entire swarm moves by including a deterministic leader behavior for some agents. Therefore, we examine different combinations of Hilbert Curves with the classical swarm algorithms. We introduce a practical problem, the collection of manganese nodules on the sea ground by using autonomous agents. Some relevant experiments, combining different parameters for the leaders were run and the results are evaluated and described. Finally, we propose further developments and ideas to continue this research.