3.4 Algorithmic robustness analysis
In multiple cargo capture experiments, two cargo particles can get rather closer to each other due to Brownian motion. As swarm robots are trying to cage the two cargo particles, two separate clusters may eventually merge into a big cluster surrounding the two cargo particles. Fig. S4 shows the observations from experiments in free space and in a maze. Note that the formation of stably merged clusters indeed demonstrates the robustness of our algorithm when two nearby clusters are interfering each other.