Color-Coded Light Signals Based Communication for Swarming Behaviors in Mobile Robotic System

Table 2

Color-coded signals and their associated behavior.

S. no.	Color-coded signals	Transmitter LED intensity (0–255)	Extent	Swarm behavior
1.	Red	255	All robots	Aggregation
2.	Green	255	All robots	Dispersion
3.	Red and green	255	All robots	Clustering
4.	Red, green, and blue	125	Local neighbors	Chain formation