Fecha de publicación: 24/10/2019 Fuente: WIPO "swarm" An apparatus comprises at least one sensor to collect localization information indicating a location of a first robotic agent of a plurality of robotic agents; and a processor comprising circuitry. The processor is to cause the first robotic agent to move and to utilize the at least one sensor and other robotic agents of the plurality of robotic agents to determine the location of the first robotic agent during a first period of time in which the first robotic agent is not selected as an anchor reference point; and cause the first robotic agent to remain stationary during a second period of time in which the first robotic agent is selected as an anchor reference point to assist other robotic agents of the plurality of robotic agents in location determination.