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We present a number of powerful local mechanisms for maintaining a dynamicswarm of robots with limited capabilities and information, in the presence ofexternal forces and permanent node failures. We propose a set of localcontinuous algorithms that together produce a generalization of a EuclideanSteiner tree. At any stage, the resulting overall shape achieves a goodcompromise between local thickness, global connectivity, and flexibility tofurther continuous motion of the terminals. The resulting swarm behavior scaleswell, is robust against node failures, and performs close to the best knownapproximation bound for a corresponding centralized static optimizationproblem.

Distributed Cohesive Control for Robot Swarms: Maintaining Good Connectivity in the Presence of Exterior Forces