1. Department of Computer Engineering, University of Engineering and Technology, Taxila, Pakistan
2. Swarm Robotics Lab, National Centre for Robotics and Automation (NCRA), Rawalpindi, Pakistan
3. Department of Computer Science, University of Kwazulu Natal, Durban, South Africa
4. School of Electronic Engineering and Computer Science, Queen Mary University of London, London E1 4NS, UK
5. Department of Computer Science and Engineering, Universidad Carlos III de Madrid, Leganés, Madrid 28911, Spain