“…Notwithstanding the advancements achieved in the last decade [24,29,4,51,7,43,34], the design of robot swarms is still at dawn and no generally applicable methodology has been proposed so far [8,11,21]. Automatic design methods are a promising way of approaching the issue [15,6]. In automatic methods, the design problem is cast into an optimization problem: a space of solutions is searched via an optimization algorithm, with the goal of maximizing a performance measure.…”