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This paper presents a robot swarm model to enclose a target. The robots use information of the target and each of their neighbors. Every robot has its own, standard torch-­‐like signal emitter and they can observe the sum of the intensity of their torches. In this paper, the robots identify their nearest neighbor by choosing the emitting source with the strongest intensity. We expect that this new approach makes the robot swarm more simple and scalable. We confirm this model by computer simulations.

A method of enclosing a target by robot swarm with limited range homogeneous signal emitter