Colonies of eusocial insects, such as ants and bees, demonstrate a variety of complex and adaptive behaviors, even though the individuals of a colony follow a relatively simple and limited set of rules (see Chapters 2 and 14). Due to the increasing interest in developing articial systems inspired by social insects, the last decade has seen an explosion of research in the scientic areas referred to as swarm intelligence or collective intelligence (Bonabeau et al. 1999).