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This paper investigates efficient techniques to collect and concentrate anunder-actuated particle swarm despite obstacles. Concentrating a swarm ofparticles is of critical importance in health-care for targeted drug delivery,where micro-scale particles must be steered to a goal location. Individualparticles must be small in order to navigate through micro-vasculature, butdecreasing size brings new challenges. Individual particles are too small tocontain on-board power or computation and are instead controlled by a globalinput, such as an applied fluidic flow or electric field.  To make progress, this paper considers a swarm of robots initialized in agrid world in which each position is either free-space or obstacle. This paperprovides algorithms that collect all the robots to one position and comparesthese algorithms on the basis of efficiency and implementation time.

Collecting a Swarm in a Grid Environment Using Shared, Global Inputs