“…By combining and adjusting the strength of separate inter-agent attraction and repulsion fields Coquet et al (2021), has demonstrated that a stable equilibrium position can be attained where agents maintain a fixed relative position to each other even though the entire swarm may be in motion. This allowed for the overall surface of an MRS, and hence the Okumura et al (2018) Varying time interval at which robots regroup to trade map information Area Exploration Schumer and Steiglitz (1968), Azad and Hasançebi (2014), Hansen and Ostermeier (2001), Hansen (2006) Adaptive step size Optimization Blackwell and Bentley (2002) Exponential inter-agent repulsion strength Optimization Kernbach et al (2009), Schmickl et al (2009), Bodi et al (2012), Hereford (2013), Bodi et al (2015), Kengyel et al (2016) 2019), Coquet et al (2021), Kwa et al (2020a), Kwa et al (2020b), Kwa et al (2021a), Kwa et al (2021b) Exponential inter-agent repulsion and attraction strength Target Tracking Parker and Emmons (1997), Parker (2002), Kolling and Carpin (2006), Kolling and Carpin (2007) Linear inter-agent repulsion strength & variable target attraction strength Target Tracking (CMOMMT) overall EED of the swarm, to be controlled even though the entire system may be moving.…”