The invention discloses a swarm
robot deployment method and device in a dynamic
diffusion field, a
server and a medium, and belongs to the technical field of
robot deployment. Comprising the following steps: dividing a dynamic
diffusion field into sub-regions, and arranging sensing robots in the sub-regions; constructing a parabolic
pollution diffusion field model, and constructing a global field density observer; constructing a projection operator of the diffusion coefficient, and constructing an adaptive updating law of the diffusion coefficient; obtaining an estimated value of a diffusion coefficient, and obtaining an estimated value of global field density; dividing the dynamic
diffusion field into a plurality of sub-regions to obtain a Voronoi
cell cavity; calculating an estimated
centroid; constructing a sliding mode variable and an auxiliary
intermediate variable, and constructing a distributed guidance law; and driving each execution
robot to move towards the target deployment position to realize deployment. By constructing a global field density observer and a speed-free distributed guidance law, deployment of swarm robots in a dynamic
diffusion field under the conditions that a diffusion coefficient is unknown, the speed is unmeasurable and resources are limited is realized.