To study the efficient capability of physical cooperative swarm systems and their several sub-domains, such as, swarm robots and sensor swarms, unmanned vehicle swarm, swarm rescue robots. The outcome is to define a framework of physical sensor networks that consist of various sensor nodes, which have the capability to sense, process, compute, and communicate. The derived framework shall present the guideline to apply sensor nodes in different applications and highlight various hindrances during implementation in sensor networks.