Abstract
Swarm robotic systems are currently being used to address many real-world problems. One interesting application of swarm robotics is the self-organized formation of structures and shapes. Some of the key challenges in the swarm robotic systems include swarm size constraint, random motion, coordination among robots, localization, and adaptability in a decentralized environment. Rubenstein et al. presented a system ("Programmable self-assembly in a thousand-robot swarm", Science, 2014) for thousand-robot swarm able to form only solid shapes with the robots in aggregated form by applying the collective behavior algorithm. Even though agent-based approaches have been presented in various studies for self-organized formation, however these studies lack agent-based modeling (ABM) approach along with the constraints in term of structure complexity and heterogeneity in large swarms with dynamic localization. The cognitive agent-based computing (CABC) approach is capable of modeling such self-o