Cooperative transport by ants and robots

In several species of ants, workers cooperate to retrieve large prey. Usually, one ant finds a prey item, tries to move it, and, when unsucessful for some time, recuits nestmates through direct contact or chemical marking. When a group of ants tries to move large prey, the ants change position and alignment until the prey can be moved toward the nest. A robotic implementation of this phenomenon is described. Although the robotic system may not appear to be very efficient, it is an interesting example of decentralized problem-solving by a group of robots, and it provides the first formalized model of cooperative transport in ants. Published in Robotics and Autonomous Systems30 (2000), 85-101.

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