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The perception of each individual is highly localized, as is its ability to interact with others. While natural collective motion is robust, most artificial swarms are\n                    <jats:italic>brittle<\/jats:italic>\n                    . This particularly occurs when vision is used as the sensing modality, due to ambiguities and information-loss inherent in visual perception. This paper presents mechanisms for robust collective motion inspired by studies of locusts. First, we develop a robust distance estimation method that combines visually perceived horizontal and vertical sizes of neighbors. Second, we introduce\n                    <jats:italic>intermittent locomotion<\/jats:italic>\n                    as a mechanism that allows robots to reliably detect peers that fail to keep up, and disrupt the motion of the swarm. We show how such faulty robots can be avoided in a manner that is robust to errors in classifying them as faulty. Through extensive physics-based simulation experiments, we show dramatic improvements to swarm resilience when using these techniques. We show these are relevant to both distance-based\n                    <jats:italic>Avoid\u2013Attract<\/jats:italic>\n                    models, as well as to models relying on\n                    <jats:italic>Alignment<\/jats:italic>\n                    , in a wide range of experiment settings.\n                  <\/jats:p>","DOI":"10.1007\/s10514-025-10230-7","type":"journal-article","created":{"date-parts":[[2025,11,20]],"date-time":"2025-11-20T06:15:22Z","timestamp":1763619322000},"update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":1,"title":["Bugs with features: vision-based fault-tolerant collective motion inspired by nature"],"prefix":"10.1007","volume":"49","author":[{"given":"Peleg","family":"Shefi","sequence":"first","affiliation":[]},{"given":"Amir","family":"Ayali","sequence":"additional","affiliation":[]},{"given":"Gal A.","family":"Kaminka","sequence":"additional","affiliation":[]}],"member":"297","published-online":{"date-parts":[[2025,11,20]]},"reference":[{"issue":"2","key":"10230_CR1","doi-asserted-by":"publisher","first-page":"20230468","DOI":"10.1098\/rsbl.2023.0468","volume":"20","author":"Y Aidan","year":"2024","unstructured":"Aidan, Y., Bleichman, I., & Ayali, A. 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