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Abstract— Swarm robotics is an advanced robotics field which involves co-operative behaviour implemented on robots. Swarm robots find its applications in a large number of fields like process automation, defence, surgery, surveillance etc.In the centralised swarm robotic approach, we have a master robot and one or more slave robots. For a known environment this approach has a very less response time. The master robot is basically in charge of the slaves and controls their actions through sending…