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This paper presents a novel swarm robotics application of chemotaxisbehaviour observed in microorganisms. This approach was used to causeexploration robots to return to a work area around the swarm's nest within aboundless environment. We investigate the performance of our algorithm throughextensive simulation studies and hardware validation. Results show that thechemotaxis approach is effective for keeping the swarm close to both stationaryand moving nests. Performance comparison of these results with the unrealisticcase where a boundary wall was used to keep the swarm within a target searcharea showed that our chemotaxis approach produced competitive results.

Chemotaxis Based Virtual Fence for Swarm Robots in Unbounded Environments