  We propose a decentralized control algorithm for a minimalistic robotic swarm
with limited capabilities such that the desired global behavior emerges. We
consider the problem of searching for and encapsulating various targets present
in the environment while avoiding collisions with both static and dynamic
obstacles. The novelty of this work is the guaranteed generation of desired
complex swarm behavior with constrained individual robots which have no memory,
no localization, and no knowledge of the exact relative locations of their
neighbors. Moreover, we analyze how the emergent behavior changes with
different parameters of the task, noise in the sensor reading, and asynchronous
execution.
