We propose a simple decentralized control scheme for swarm robots that can perform spatially distributed tasks in parallel, drawing inspiration from the non-reciprocal-interaction-based (NRIB) model we proposed previously. Each agent has an internal state called “workload.” Each agent first moves randomly to find a task. When it finds a task, its workload increases, and then it attracts its neighboring agents to ask for their help. Simulation was used to demonstrate the validity of the proposed control scheme.

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