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Numerical simulations and real robotic experiments are conducted to validate the effectiveness of the proposed method. The results show that the proposed self-organized trapping method allows a swarm of robots to entrap multiple moving targets in a stable, flexible, noise-tolerate and size-scalable fashion.<\/jats:p>","DOI":"10.1007\/s40747-023-01014-6","type":"journal-article","created":{"date-parts":[[2023,4,6]],"date-time":"2023-04-06T00:03:51Z","timestamp":1680739431000},"page":"5135-5155","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":17,"title":["Self-organized multi-target trapping of swarm robots with density-based interaction"],"prefix":"10.1007","volume":"9","author":[{"given":"Xiaokang","family":"Lei","sequence":"first","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0003-2750-114X","authenticated-orcid":false,"given":"Shuai","family":"Zhang","sequence":"additional","affiliation":[]},{"given":"Yalun","family":"Xiang","sequence":"additional","affiliation":[]},{"given":"Mengyuan","family":"Duan","sequence":"additional","affiliation":[]}],"member":"297","published-online":{"date-parts":[[2023,3,8]]},"reference":[{"issue":"1","key":"1014_CR1","doi-asserted-by":"publisher","first-page":"3","DOI":"10.1007\/s11721-007-0004-y","volume":"1","author":"S Garnier","year":"2007","unstructured":"Garnier S, Gautrais J, Theraulaz G (2007) The biological principles of swarm intelligence. 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