Distributed systems disseminate emergent behaviors across an interconnected group of lightweight agents. The SHARKS protocol (Secure, Heterogeneous, Autonomous, and Rotational Knowledge for Swarms) allows for a robotic swarm to encircle/ensphere a target. Motivated by security and resiliency, the SHARKS protocol addresses traditional vulnerabilities without creating a central point of vulnerability. The SHARKS protocol tolerates the loss of agents and continues to surround a target with as few as three individuals. Utilizing two movement algorithms, agents remain within a specified radial distance of the target while also evenly dispersing from their neighbors. SHARKS was tested in two-dimensional (2-D) and 3-D fields. In 2-D fields, the efficiency (how quickly the swarm stabilizes) and the capacity (the number of agents that can stabilize) were tested across different configurations. In 3-D fields, the stability was tested across many additional configurations based on when each swarm reached 68%, 95%, and 100% stability.

中文翻译：

---

安全，灵活的群发：可救援的分散式轻型无人机

分布式系统在一组互连的轻量级代理之间传播紧急行为。SHARKS协议（用于群的安全，异构，自治和旋转知识）允许机器人群包围/包围目标。受安全性和弹性的驱动，SHARKS协议可解决传统漏洞，而无需创建漏洞的中心点。SHARKS协议可以容忍代理的丢失，并继续以最少三个人包围目标。利用两种运动算法，特工保持在目标的指定径向距离内，同时也从其邻居均匀分散。SHARKS在二维（2-D）和3-D领域中进行了测试。在二维字段中 在不同配置下测试了效率（群稳定的速度）和容量（可以稳定的代理数量）。在3-D领域中，基于每个群集何时达到68％，95％和100％的稳定性，对许多其他配置进行了稳定性测试。