“…A swarm-based robotics system can generally be defined as a highly decentralized group of extremely simple robotic agents, with limited communication, computation and sensing abilities, designed and deployed to accomplish various tasks. Tasks that have been of particular interest to researchers in recent years include synergetic mission planning [55,56], emergency detection using decentralized sensing capabilities [57], patrolling [58][59][60], fault tolerance cooperation [61][62][63], network security [64], adversarial learning modelling [65], financial system modelling [66], crowd modelling [67], swarm control [68,69], human design of mission plans [70,71], role assignment [72][73][74][75][76], multi-robot path planning [59,[77][78][79][80][81], traffic control [82][83][84], formation generation [85][86][87][88], formation keeping [89][90][91], exploration and mapping [45,92,93], target tracking [94,95], collaborative cleaning…”