Aggregation processes of mobile robotic vehicles (MRVs) in a swarm weapon system are described. The formation of MRVs from the larger swarm into specific squads is organized by a lead MRV that makes decisions on the specific spatial configuration by determining the optimal approach to interact with the...http://www.google.com.tw/patents/US20040134336?utm_source=gb-gplus-share專利 US20040134336 - System, methods and apparatus for aggregating groups of mobile robotic vehicles
