ABSTRACT

Collective robotic systems (or, equivalently, multirobot teams) have many potential advantages over single-robot systems, including

increased speed of task completion through parallelism; improved

solutions for tasks that are inherently distributed in space, time,

or functionality; cheaper solutions for complex applications that

can be addressed with multiple specialized robots, rather than all-

capablemonolithic entities; and increased robustness and reliability

through redundancy [Parker (2008b)].