Fecha de publicación: 15/07/2004 Fuente: WIPO "swarm" Aggregation processes of mobile robotic vehicles (MRVs) in a swarm weapon system are described. The formation of MRVs from the larger swarm into specific squads is organized by a lead MRV that makes decisions on the specific spatial configuration by determining the optimal approach to interact with the environment in rapidly changing battlefield situations. The initial phase of organization into specific configurations is contingent on information about enemy targets.