3.1 The landmark Dijkstra algorithm in a maze
Our strategic control of a robot swarm to capture a cargo particle in a maze relies on the landmark Dijkstra algorithm to approximate the shortest path between robots and targets (as described in the main text Algorithm 2). In short, the algorithm first discretizes a 2D space to get grids and landmarks. Landmarks are then treated as graph nodes, and connections between adjacent nodes are treated as graph edges whose weight equals Euclidean distance between nodes. By applying the Dijkstra Algorithm on this weighted graph, the shortest path between arbitrary nodes/landmarks can be computed, which will be further used to approximate the shortest path between robots and targets. In Fig. S1, we show the shortest path generated from the algorithm, where the blue end refers to the starting point and the yellow end refers to the destination.