  We present a decentralized control algorithm for a minimalist robotic swarm
lacking memory, explicit communication, or relative position information, to
encapsulate multiple diffusive target sources in a bounded environment. The
state-of-the-art approaches generally require either local communication or
relative localization to provide guarantees of convergence and safety. We
quantify trade-offs between task, control, and robot parameters for guaranteed
safe convergence to all the sources. Furthermore, our algorithm is robust to
occlusions and noise in the sensor measurements as we demonstrate in
simulation.
