Swarm is one of the behaviors shown by animals which is considered of aspect of intelligent. In this paper, we proposed a simple system that could control the direction of the swarm of robot in two dimensions based on the simple stimulation by a leader robot. In order to achieve that, we implemented a system using a network of oscillator in which each robot was regarded as an oscillator. By manipulating the natural frequency of the oscillator in a leader, we realized a particular phase distribution that controls the direction movement of the swarm robots. We also proposed the direction-dependent interaction so that the shape of the phase gradient would be orthogonal way. We verified the system that we made by showing a demonstration by using modified e-puck Robots.
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