“…Cooperative gathering and construction tasks are based upon the social insect metaphor and have been studied in both simulated multi-agent and physical multi-robot systems, as well as artificial life simulations (Bonabeau et al, 1997), (Bonabeau et al, 1998), (Holldobler & Wilson, 1990), (Gotwald, 1995), (Noirot, 1990), (O'Riain et al, 2000), (Calderone & Page, 1988), (Huang & Robinson, 1996), (Bonabeau et al, 1996), (Waibel et al, 2006), (Perez-Uribe et al, 2003) (Bonabeau et al, 1996), (Bonabeau et al, 1997), (Theraulaz, Bonabeau, & Deneubourg, 1998a), (Waibel et al, 2006), (Campos et al, 2001), (Theraulaz et al, 1998b) (Bonabeau, Theraulaz, Arpin, & Sardet, 1994), (Deneubourg, Theraulaz, & Beckers, 1991), (Ijspeert, Martinoli, Billard, & Gambardella, 2001), (Mataric, 1997), (Kreiger & Billeter, 2000), , (Bongard, 2000). Such studies typically draw inspiration from empirical evidence (Jeanne, 1991), (Karsai & Wenzel, 1998), (Karsai & Wenzel, 2000), (Traniello, 1978) and theoretical analyzes (Bourke, 1999), (Anderson & McShea, 2001) of biological social insect societies.…”