{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,25]],"date-time":"2026-06-25T16:04:19Z","timestamp":1782403459812,"version":"3.54.5"},"reference-count":42,"publisher":"Springer Science and Business Media LLC","issue":"3-4","license":[{"start":{"date-parts":[[2011,11,10]],"date-time":"2011-11-10T00:00:00Z","timestamp":1320883200000},"content-version":"tdm","delay-in-days":0,"URL":"http:\/\/www.springer.com\/tdm"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Swarm Intell"],"published-print":{"date-parts":[[2011,12]]},"DOI":"10.1007\/s11721-011-0062-z","type":"journal-article","created":{"date-parts":[[2011,11,9]],"date-time":"2011-11-09T17:12:53Z","timestamp":1320858773000},"page":"305-327","source":"Crossref","is-referenced-by-count":91,"title":["Majority-rule opinion dynamics with differential latency: a mechanism for self-organized collective decision-making"],"prefix":"10.1007","volume":"5","author":[{"given":"Marco A.","family":"Montes de Oca","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Eliseo","family":"Ferrante","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Alexander","family":"Scheidler","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Carlo","family":"Pinciroli","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Mauro","family":"Birattari","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Marco","family":"Dorigo","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"297","published-online":{"date-parts":[[2011,11,10]]},"reference":[{"key":"62_CR1","doi-asserted-by":"crossref","first-page":"4187","DOI":"10.1109\/IROS.2010.5649153","volume-title":"Proceedings of the IEEE\/RSJ international conference on intelligent robots and systems (IROS 2010)","author":"M. Bonani","year":"2010","unstructured":"Bonani, M., Longchamp, V., Magnenat, S., R\u00e9tornaz, P., Burnier, D., Roulet, G., Vaussard, F., Bleuler, H., & Mondada, F. (2010). The MarXbot, a miniature mobile robot opening new perspectives for the collective-robotic research. In Proceedings of the IEEE\/RSJ international conference on intelligent robots and systems (IROS 2010) (pp. 4187\u20134193). Piscataway: IEEE Press."},{"key":"62_CR2","doi-asserted-by":"crossref","DOI":"10.1515\/9780691212920","volume-title":"Self-organization in biological systems","author":"S. Camazine","year":"2001","unstructured":"Camazine, S., Deneubourg, J.-L., Franks, N. R., Sneyd, J., Theraulaz, G., & Bonabeau, E. (2001). Self-organization in biological systems. Princeton: Princeton University Press."},{"issue":"5","key":"62_CR3","doi-asserted-by":"crossref","first-page":"e19888","DOI":"10.1371\/journal.pone.0019888","volume":"6","author":"A. Campo","year":"2010","unstructured":"Campo, A., Garnier, S., D\u00e9driche, O., Zekkri, M., & Dorigo, M. (2010a). Self-organized discrimination of resources. PLoS ONE, 6(5), e19888.","journal-title":"PLoS ONE"},{"issue":"5","key":"62_CR4","doi-asserted-by":"crossref","first-page":"339","DOI":"10.1007\/s00422-010-0402-x","volume":"103","author":"A. Campo","year":"2010","unstructured":"Campo, A., Guti\u00e9rrez, \u00c1., Nouyan, S., Pinciroli, C., Longchamp, V., Garnier, S., & Dorigo, M. (2010b). Artificial pheromone for path selection by a foraging swarm of robots. Biological Cybernetics, 103(5), 339\u2013352.","journal-title":"Biological Cybernetics"},{"issue":"2","key":"62_CR5","doi-asserted-by":"crossref","first-page":"591","DOI":"10.1103\/RevModPhys.81.591","volume":"81","author":"C. Castellano","year":"2009","unstructured":"Castellano, C., Fortunato, S., & Loreto, V. (2009). Statistical physics of social dynamics. Reviews of Modern Physics, 81(2), 591\u2013646.","journal-title":"Reviews of Modern Physics"},{"key":"62_CR6","volume-title":"Econophysics and sociophysics: trends and perspectives","year":"2006","unstructured":"Chakrabarti, B., Chakraborti, A., & Chatterjee, A. (Eds.) (2006). Econophysics and sociophysics: trends and perspectives. Weinheim: Wiley-VCH."},{"key":"62_CR7","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1016\/S0065-3454(03)01001-5","volume":"32","author":"I. D. Couzin","year":"2003","unstructured":"Couzin, I. D., & Krause, J. (2003). Self-organization and collective behavior in vertebrates. Advances in the Study of Behavior, 32, 1\u201375.","journal-title":"Advances in the Study of Behavior"},{"key":"62_CR8","doi-asserted-by":"crossref","first-page":"87","DOI":"10.1145\/1830483.1830501","volume-title":"Proceedings of the genetic and evolutionary computation conference (GECCO 2010)","author":"F. Ducatelle","year":"2010","unstructured":"Ducatelle, F., Di Caro, G., & Gambardella, L. M. (2010). Cooperative self-organization in a heterogeneous swarm robotic system. In Proceedings of the genetic and evolutionary computation conference (GECCO 2010) (pp. 87\u201394). New York: ACM."},{"key":"62_CR9","unstructured":"Ferrante, E., Brambilla, M., Birattari, M., & Dorigo, M. Socially-mediated negotiation for obstacle avoidance in collective transport. In Proceedings of the 10th international symposium on distributed autonomous robotic systems (DARS 2010). Berlin: Springer (2011, to appear)."},{"key":"62_CR10","series-title":"LNCS","doi-asserted-by":"crossref","first-page":"283","DOI":"10.1007\/978-3-540-87527-7_28","volume-title":"Proceedings of the international conference on ant colony optimization and swarm intelligence (ANTS 2008)","author":"R. Fujisawa","year":"2008","unstructured":"Fujisawa, R., Dobata, S., Kubota, D., Imamura, H., & Matsuno, F. (2008a). Dependency by concentration of pheromone trail for multiple robots. In LNCS: Vol.\u00a05217. Proceedings of the international conference on ant colony optimization and swarm intelligence (ANTS 2008) (pp. 283\u2013290). Berlin: Springer."},{"key":"62_CR11","doi-asserted-by":"crossref","first-page":"1391","DOI":"10.1109\/IROS.2008.4650971","volume-title":"Proceedings of the IEEE\/RSJ international conference on intelligent robots and systems (IROS 2008)","author":"R. Fujisawa","year":"2008","unstructured":"Fujisawa, R., Imamura, H., Hashimoto, T., & Matsuno, F. (2008b). Communication using pheromone field for multiple robots. In Proceedings of the IEEE\/RSJ international conference on intelligent robots and systems (IROS 2008) (pp. 1391\u20131396). Piscataway: IEEE Press."},{"issue":"4","key":"62_CR12","doi-asserted-by":"crossref","first-page":"426","DOI":"10.1016\/0022-2496(86)90019-2","volume":"30","author":"S. Galam","year":"1986","unstructured":"Galam, S. (1986). Majority rule, hierarchical structures, and democratic totalitarianism: A statistical approach. Journal of Mathematical Psychology, 30(4), 426\u2013434.","journal-title":"Journal of Mathematical Psychology"},{"key":"62_CR13","doi-asserted-by":"crossref","first-page":"37","DOI":"10.1109\/SIS.2007.368024","volume-title":"Proceedings of the IEEE swarm intelligence symposium (SIS 2007)","author":"S. Garnier","year":"2007","unstructured":"Garnier, S., Tache, F., Combe, M., Grimal, A., & Theraulaz, G. (2007). Alice in pheromone land: An experimental setup for the study of ant-like robots. In Proceedings of the IEEE swarm intelligence symposium (SIS 2007) (pp. 37\u201344). Piscataway: IEEE Press."},{"issue":"2","key":"62_CR14","doi-asserted-by":"crossref","first-page":"109","DOI":"10.1177\/1059712309103430","volume":"17","author":"S. Garnier","year":"2009","unstructured":"Garnier, S., Gautrais, J., Asadpour, M., Jost, C., & Theraulaz, G. (2009). Self-organized aggregation triggers collective decision making in a group of cockroach-like robots. Adaptive Behavior, 17(2), 109\u2013133.","journal-title":"Adaptive Behavior"},{"issue":"12","key":"62_CR15","doi-asserted-by":"crossref","first-page":"579","DOI":"10.1007\/BF00462870","volume":"76","author":"S. Goss","year":"1989","unstructured":"Goss, S., Aron, S., Deneubourg, J.-L., & Pasteels, J. M. (1989). Self-organized shortcuts in the argentine ant. Naturwissenschaften, 76(12), 579\u2013581.","journal-title":"Naturwissenschaften"},{"issue":"6","key":"62_CR16","doi-asserted-by":"crossref","first-page":"1420","DOI":"10.1086\/226707","volume":"83","author":"M. Granovetter","year":"1978","unstructured":"Granovetter, M. (1978). Threshold models of collective behavior. American Journal of Sociology, 83(6), 1420\u20131443.","journal-title":"American Journal of Sociology"},{"issue":"6","key":"62_CR17","doi-asserted-by":"crossref","first-page":"807","DOI":"10.1007\/s00521-010-0380-x","volume":"19","author":"\u00c1. Guti\u00e9rrez","year":"2010","unstructured":"Guti\u00e9rrez, \u00c1., Campo, A., Monasterio-Huelin, F., Magdalena, L., & Dorigo, M. (2010). Collective decision-making based on social odometry. Neural Computing & Applications, 19(6), 807\u2013823.","journal-title":"Neural Computing & Applications"},{"key":"62_CR18","doi-asserted-by":"crossref","first-page":"310","DOI":"10.1109\/SIS.2007.367953","volume-title":"Proceedings of the IEEE swarm intelligence symposium (SIS 2007)","author":"H. Hamman","year":"2007","unstructured":"Hamman, H., Szymanski, M., & Worn, H. (2007). Orientation in a trail network by exploiting its geometry for swarm robotics. In Proceedings of the IEEE swarm intelligence symposium (SIS 2007) (pp. 310\u2013315). Piscataway: IEEE Press."},{"key":"62_CR19","doi-asserted-by":"crossref","DOI":"10.1007\/978-3-642-11546-2","volume-title":"Quantitative sociodynamics. Stochastic methods and models of social interaction processes","author":"D. Helbing","year":"2010","unstructured":"Helbing, D. (2010). Quantitative sociodynamics. Stochastic methods and models of social interaction processes (2nd ed.) Berlin: Springer.","edition":"2"},{"key":"62_CR20","doi-asserted-by":"crossref","first-page":"2288","DOI":"10.1109\/ROBOT.2009.5152405","volume-title":"IEEE international conference on robotics and automation (ICRA 2009)","author":"H. Herianto","year":"2009","unstructured":"Herianto, H., & Kurabayashi, D. (2009). Realization of an artificial pheromone system in random data carriers using RFID tags for autonomous navigation. In IEEE international conference on robotics and automation (ICRA 2009) (pp. 2288\u20132293). Piscataway: IEEE Press."},{"issue":"23","key":"62_CR21","doi-asserted-by":"crossref","DOI":"10.1103\/PhysRevLett.90.238701","volume":"90","author":"P. L. Krapivsky","year":"2003","unstructured":"Krapivsky, P. L., & Redner, S. (2003). Dynamics of majority rule in two-state interacting spin systems. Physical Review Letters, 90(23), 238701.","journal-title":"Physical Review Letters"},{"key":"62_CR22","first-page":"530","volume-title":"Proceedings of the IEEE\/RSJ international conference on intelligent robots and systems (IROS 1995)","author":"Y. Kuwana","year":"1995","unstructured":"Kuwana, Y., Shimoyama, I., & Miura, H. (1995). Steering control of a mobile robot using insect antennae. In Proceedings of the IEEE\/RSJ international conference on intelligent robots and systems (IROS 1995) (Vol.\u00a02, pp. 530\u2013535), Piscataway: IEEE Press."},{"issue":"4","key":"62_CR23","volume":"79","author":"R. Lambiotte","year":"2009","unstructured":"Lambiotte, R., Saram\u00e4ki, J., & Blondel, V. D. (2009). Dynamics of latent voters. Physical Review. E, Statistical Physics, Plasmas, Fluids, and Related Interdisciplinary Topics, 79(4), 046107.","journal-title":"Physical Review. E, Statistical Physics, Plasmas, Fluids, and Related Interdisciplinary Topics"},{"key":"62_CR24","doi-asserted-by":"crossref","first-page":"1353","DOI":"10.1145\/1082473.1082769","volume-title":"Proceedings of the international joint conference on autonomous agents and multiagent systems (AAMAS 2005)","author":"M. Mamei","year":"2005","unstructured":"Mamei, M., & Zambonelli, F. (2005). Physical deployment of digital pheromones through RFID technology. In Proceedings of the international joint conference on autonomous agents and multiagent systems (AAMAS 2005) (pp. 1353\u20131354). New York: ACM."},{"key":"62_CR25","series-title":"LNCS","doi-asserted-by":"crossref","first-page":"84","DOI":"10.1007\/978-3-642-15461-4_8","volume-title":"Proceedings of the international conference on swarm intelligence (ANTS 2010)","author":"R. Mayet","year":"2010","unstructured":"Mayet, R., Roberz, J., Schmickl, T., & Crailsheim, K. (2010). Antbots: A feasible visual emulation of pheromone trails for swarm robots. In LNCS: Vol.\u00a06234. Proceedings of the international conference on swarm intelligence (ANTS 2010) (pp. 84\u201394). Berlin: Springer."},{"key":"62_CR26","unstructured":"Montes de Oca, M. A., Ferrante, E., Scheidler, A., Pinciroli, C., Birattari, M., Dorigo, M. (2011). Majority-rule opinion dynamics with differential latency: Supplementary information webpage. http:\/\/iridia.ulb.ac.be\/supp\/IridiaSupp2010-014\/ ."},{"key":"62_CR27","first-page":"555","volume-title":"Proceedings of the IEEE\/RSJ international conference on intelligent robots and systems (IROS 1999)","author":"S. Nagasawa","year":"1999","unstructured":"Nagasawa, S., Kanzaki, R., & Shimoyama, I. (1999). Study of a small mobile robot that uses living insect antennae as pheromone sensors. In Proceedings of the IEEE\/RSJ international conference on intelligent robots and systems (IROS 1999) (pp. 555\u2013560). Piscataway: IEEE Press."},{"issue":"1","key":"62_CR28","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1007\/s11721-007-0009-6","volume":"2","author":"S. Nouyan","year":"2008","unstructured":"Nouyan, S., Campo, A., & Dorigo, M. (2008). Path formation in a robot swarm: self-organized strategies to find your way home. Swarm Intelligence, 2(1), 1\u201323.","journal-title":"Swarm Intelligence"},{"issue":"4","key":"62_CR29","doi-asserted-by":"crossref","first-page":"695","DOI":"10.1109\/TEVC.2008.2011746","volume":"13","author":"S. Nouyan","year":"2009","unstructured":"Nouyan, S., Gross, R., Bonani, M., Mondada, F., & Dorigo, M. (2009). Teamwork in self-organized robot colonies. IEEE Transactions on Evolutionary Computation, 13(4), 695\u2013711.","journal-title":"IEEE Transactions on Evolutionary Computation"},{"issue":"5805","key":"62_CR30","doi-asserted-by":"crossref","first-page":"1560","DOI":"10.1126\/science.1133755","volume":"314","author":"M. A. Nowak","year":"2006","unstructured":"Nowak, M. A. (2006). Five rules for the evolution of cooperation. Science, 314(5805), 1560\u20131563.","journal-title":"Science"},{"issue":"2","key":"62_CR31","doi-asserted-by":"crossref","first-page":"240","DOI":"10.1109\/TMECH.2009.2014370","volume":"14","author":"C. A. C. Parker","year":"2009","unstructured":"Parker, C. A. C., & Zhang, H. (2009). Cooperative decision-making in decentralized multiple-robot systems: The best-of-N problem. IEEE\/ASME Transactions on Mechatronics, 14(2), 240\u2013251.","journal-title":"IEEE\/ASME Transactions on Mechatronics"},{"issue":"3","key":"62_CR32","doi-asserted-by":"crossref","first-page":"199","DOI":"10.1007\/s11721-010-0042-8","volume":"4","author":"C. A. C. Parker","year":"2010","unstructured":"Parker, C. A. C., & Zhang, H. (2010). Collective unary decision-making by decentralized multiple-robot systems applied to the task-sequencing problem. Swarm Intelligence, 4(3), 199\u2013220.","journal-title":"Swarm Intelligence"},{"issue":"3","key":"62_CR33","doi-asserted-by":"crossref","first-page":"319","DOI":"10.1023\/A:1012411712038","volume":"11","author":"D. Payton","year":"2001","unstructured":"Payton, D., Daily, M., Estowski, R., Howard, M., & Lee, C. (2001). Pheromone robotics. Autonomous Robots, 11(3), 319\u2013324.","journal-title":"Autonomous Robots"},{"key":"62_CR34","doi-asserted-by":"crossref","unstructured":"Pinciroli, C., Trianni, V., O\u2019Grady, R., Pini, G., Brutschy, A., Brambilla, M., Mathews, N., Ferrante, E., Di Caro, G., Ducatelle, F., Stirling, T., Guti\u00e9rrez, \u00c1., Gambardella, L. M., & Dorigo, M. (2011, in press). ARGoS: a modular, multi-engine simulator for heterogeneous swarm robotics. In Proceedings of the IEEE\/RSJ international conference on intelligent robots and systems (IROS 2011). Piscataway: IEEE Press.","DOI":"10.1109\/IROS.2011.6094829"},{"key":"62_CR35","doi-asserted-by":"crossref","first-page":"3659","DOI":"10.1109\/IROS.2009.5354263","volume-title":"Proceedings of the IEEE\/RSJ international conference on intelligent robots and systems (IROS 2009)","author":"J. Roberts","year":"2009","unstructured":"Roberts, J., Stirling, T., Zufferey, J., & Floreano, D. (2009). 2.5D infrared range and bearing system for collective robotics. In Proceedings of the IEEE\/RSJ international conference on intelligent robots and systems (IROS 2009) (pp. 3659\u20133664). Piscataway: IEEE Press."},{"key":"62_CR36","first-page":"2698","volume-title":"Proceedings of the IEEE international conference on robotics and automation (ICRA 1999)","author":"R. A. Russell","year":"1999","unstructured":"Russell, R. A. (1999). Ant trails\u2014an example for robots to follow? In Proceedings of the IEEE international conference on robotics and automation (ICRA 1999) (pp. 2698\u20132703). Piscataway: IEEE Press."},{"issue":"3","key":"62_CR37","volume":"83","author":"A. Scheidler","year":"2011","unstructured":"Scheidler, A. (2011). Dynamics of majority rule with differential latencies. Physical Review. E, Statistical Physics, Plasmas, Fluids, and Related Interdisciplinary Topics, 83(3), 031116.","journal-title":"Physical Review. E, Statistical Physics, Plasmas, Fluids, and Related Interdisciplinary Topics"},{"key":"62_CR38","volume-title":"Micromotives and macrobehavior","author":"T. Schelling","year":"1978","unstructured":"Schelling, T. (1978). Micromotives and macrobehavior. New York: Norton."},{"issue":"1\u20132","key":"62_CR39","doi-asserted-by":"crossref","first-page":"171","DOI":"10.1007\/s10514-007-9073-4","volume":"25","author":"T. Schmickl","year":"2008","unstructured":"Schmickl, T., & Crailsheim, K. (2008). Trophallaxis within a robotic swarm: bio-inspired communication among robots in a swarm. Autonomous Robots, 25(1\u20132), 171\u2013188.","journal-title":"Autonomous Robots"},{"key":"62_CR40","first-page":"3074","volume-title":"Proceedings of the IEEE\/RSJ international conference on intelligent robots and systems (IROS 2004)","author":"K. Sugawara","year":"2004","unstructured":"Sugawara, K., Kazama, T., & Watanabe, T. (2004). Foraging behavior of interacting robots with virtual pheromone. In Proceedings of the IEEE\/RSJ international conference on intelligent robots and systems (IROS 2004) (pp. 3074\u20133079). Piscataway: IEEE Press."},{"key":"62_CR41","first-page":"625","volume-title":"Proceedings of the international conference on simulation of adaptive behavior: from animals to animats (SAB 1996)","author":"B. Werger","year":"1996","unstructured":"Werger, B., & Matari\u0107, M. (1996). Robotic \u201cfood\u201d chains: Externalization of state and program for minimal-agent foraging. In Proceedings of the international conference on simulation of adaptive behavior: from animals to animats (SAB 1996) (pp. 625\u2013634). Cambridge: MIT Press."},{"key":"62_CR42","series-title":"LNCS","first-page":"893","volume-title":"Proceedings of the European conference on artificial life (ECAL 2003)","author":"J. Wessnitzer","year":"2003","unstructured":"Wessnitzer, J., & Melhuish, C. (2003). Collective decision-making and behaviour transitions in distributed ad hoc wireless networks of mobile robots: Target-hunting. In LNCS: Vol.\u00a02801. Proceedings of the European conference on artificial life (ECAL 2003) (pp. 893\u2013902). Berlin: Springer."}],"container-title":["Swarm Intelligence"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s11721-011-0062-z.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/article\/10.1007\/s11721-011-0062-z\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s11721-011-0062-z","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,3,13]],"date-time":"2025-03-13T23:04:55Z","timestamp":1741907095000},"score":1,"resource":{"primary":{"URL":"http:\/\/link.springer.com\/10.1007\/s11721-011-0062-z"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2011,11,10]]},"references-count":42,"journal-issue":{"issue":"3-4","published-print":{"date-parts":[[2011,12]]}},"alternative-id":["62"],"URL":"https:\/\/doi.org\/10.1007\/s11721-011-0062-z","relation":{},"ISSN":["1935-3812","1935-3820"],"issn-type":[{"value":"1935-3812","type":"print"},{"value":"1935-3820","type":"electronic"}],"subject":[],"published":{"date-parts":[[2011,11,10]]}}}