# Remotely Controlled Robot Swarms: A Structural Analysis and Model for Structural Optimization
## 1 Introduction  
There is no doubt that robots will be a part of our future life, perhaps sooner than was assumed some years ago [1]. Robots are becoming more popular in factories due to the high costs of human labour forces [2, 3]. Robots have become dominant in rescue services and have been introduced to armies as reconnaissance or fighting devices [4]. It is desirable to have intelligent slave robots that behave similarly to living creatures, except for their obedience to a master, even if this requires suicide. People have dreamed of machinery similar to live creatures, in appearance and behaviour, for many years. Thanks to progress in artificial intelligence and mechatronics technology, those dreams are becoming reality. Our expectations of robots are shaped more by science fiction and movies than by real needs. New types of humanoid or bionic robots have been developed over the last 40 years [5]. Robots can take on the appearance of live creatures, such as fish, kangaroos, dogs, etc. Together with their mechatronic control system, robots' mechanical construction enables them to perform very complicated movements, such as running, jumping over obstacles, and even some acrobatics. Such robots are the top of the line. However, most people use robots for simpler duties, such as transport, cleaning, etc. For such work, one of the crucial problems is embedding into the robot body the intelligence needed for navigation and movement trajectory planning. A swarm is a group of identical creatures that look, move, and behave in a similar way. However, the swarm as a whole has a visible or invisible structure and moves and acts in accordance with certain rules. For instance, a swarm can consist of intelligent creatures or robots that maintain a set distance from each other, which creates the group intelligence required for the creatures to move and act together. The basic element of a robot swarm is a robot [6, 7]. Swarms have played an important role in the history of the development of species. We can see that many species have survived thanks to teamwork or living in a swarm. Weak creatures can work together as a swarm to defeat a much stronger enemy. The main scientific problem we address here is how to effectively control a robot swarm, especially during simultaneous movement to a destination and given the individual actions of all robots. The important scientific question is how to create swarm intelligence, even for primitive creatures. If we understand swarm rules, we will be able to build low-cost robots (or unmanned aerial vehicles (UAVs), or ground unmanned vehicles (GUVs), popularly called drones) for the realization of large-area tasks, such as searching for people under building ruins avalanches, looking for and neutralizing contamination, etc. We can imagine many tasks that need to be accomplished quickly over a large area, which many simple robots could do more quickly than a few more advanced ones. The control of a robot swarm is a huge problem, because each robot moves individually, with different coordinates [6,8]. Robots acting in a swarm will play an important role in defence systems in the protection against enemies [9]. It is expected that a swarm of cheap robots would be more effective and fault-tolerant than expensive individual robots. As the swarm occupies a large area, it is possible that it will meet some obstacles on its way. A swarm can evade an obstacle while maintaining its structure as one rigid body--without space between the robots--so long as all robots avoid it on the same side. This can be time- and energy-consuming. When we observe an animal swarm, we notice their ability to change the swarm's structure in order to avoid obstacles, even though the individual animal may seem quite primitive [10]. Some animals living in a swarm die when they are outside of it. We can conclude that swarm intelligence is required to split and reconfigure itself. The research problem in the current study is the question of what is required in order to create an intelligent swarm of robots.