“…The main motivation of collective robotics research is the coordination of several systems (Gerkey and Matarić, 2002;Agassounon et al, 2001;Melhuish, 1999;Flocchini et al, 2000) and the robustness that can be achieved by the redundancy of the whole system (Parker, 1998;Goldberg and Matarić, 2002;Fukuda et al, 1999). An increasing number of applications, such as space robotic missions (Chien et al, 2000;Earon et al, 2001) where there is a strong advantage in obtaining a more robust system, plan to exploit this type of information processing.…”