1] The link for the simulation video for swarm of robots avoiding obstacles to reach the desitination is below.
https://drive.google.com/file/d/1U2atsZvPIrmZBS7QhIWS2Nz4kd11di_b/view?usp=sharing
2] The link for the simulation video for swarm of robots forming a specified shape is below. The shape the robots try to form is a square with a robot occupying the centre position.The robots are not allocated to a fixed position. They communicate with each other to collectively optimize time and energy of the group while forming the shape.
https://drive.google.com/file/d/10OSEw3sBVGTOwGLdQ4bTV9EeNPPowQC9/view?usp=sharing