{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,15]],"date-time":"2026-04-15T17:48:03Z","timestamp":1776275283926,"version":"3.50.1"},"reference-count":103,"publisher":"American Association for the Advancement of Science (AAAS)","issue":"56","funder":[{"DOI":"10.13039\/100007297","name":"Office of Naval Research Global","doi-asserted-by":"publisher","award":["12547352"],"award-info":[{"award-number":["12547352"]}],"id":[{"id":"10.13039\/100007297","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/100010663","name":"H2020 European Research Council","doi-asserted-by":"publisher","award":["647704"],"award-info":[{"award-number":["647704"]}],"id":[{"id":"10.13039\/100010663","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100002661","name":"Fonds De La Recherche Scientifique - FNRS","doi-asserted-by":"publisher","id":[{"id":"10.13039\/501100002661","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sci. Robot."],"published-print":{"date-parts":[[2021,7,21]]},"abstract":"<jats:p>Swarms of minimalistic robots can better respond to environmental changes when communication among robots is reduced.<\/jats:p>","DOI":"10.1126\/scirobotics.abf1416","type":"journal-article","created":{"date-parts":[[2021,7,28]],"date-time":"2021-07-28T19:10:14Z","timestamp":1627499414000},"source":"Crossref","is-referenced-by-count":100,"title":["When less is more: Robot swarms adapt better to changes with constrained communication"],"prefix":"10.1126","volume":"6","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-2071-4030","authenticated-orcid":true,"given":"Mohamed S.","family":"Talamali","sequence":"first","affiliation":[{"name":"Department of Computer Science, University of Sheffield, Sheffield, UK."},{"name":"Department of Computer Science, University College London (UCL), London, UK."}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-1685-4057","authenticated-orcid":true,"given":"Arindam","family":"Saha","sequence":"additional","affiliation":[{"name":"Department of Computer Science, University of Sheffield, Sheffield, UK."}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-1506-167X","authenticated-orcid":true,"given":"James A. R.","family":"Marshall","sequence":"additional","affiliation":[{"name":"Department of Computer Science, University of Sheffield, Sheffield, UK."},{"name":"Opteran Technologies Limited, Sheffield, UK."}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-4745-992X","authenticated-orcid":true,"given":"Andreagiovanni","family":"Reina","sequence":"additional","affiliation":[{"name":"Department of Computer Science, University of Sheffield, Sheffield, UK."},{"name":"IRIDIA, Universit\u00e9 Libre de Bruxelles, Brussels, Belgium."}]}],"member":"221","reference":[{"key":"e_1_3_2_2_2","doi-asserted-by":"crossref","unstructured":"H. Hamann Swarm Robotics: A Formal Approach (Springer International Publishing 2018).","DOI":"10.1007\/978-3-319-74528-2"},{"key":"e_1_3_2_3_2","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.aar7650"},{"key":"e_1_3_2_4_2","doi-asserted-by":"publisher","DOI":"10.1073\/pnas.0907929106"},{"key":"e_1_3_2_5_2","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.aaz3867"},{"key":"e_1_3_2_6_2","doi-asserted-by":"publisher","DOI":"10.1038\/s41586-019-1322-0"},{"key":"e_1_3_2_7_2","doi-asserted-by":"publisher","DOI":"10.1177\/0278364914525244"},{"key":"e_1_3_2_8_2","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2018.2795640"},{"key":"e_1_3_2_9_2","doi-asserted-by":"publisher","DOI":"10.3389\/frobt.2017.00009"},{"key":"e_1_3_2_10_2","doi-asserted-by":"publisher","DOI":"10.1109\/TCNS.2018.2796301"},{"key":"e_1_3_2_11_2","doi-asserted-by":"publisher","DOI":"10.1007\/s11721-012-0075-2"},{"key":"e_1_3_2_12_2","doi-asserted-by":"publisher","DOI":"10.1103\/PhysRevE.95.052411"},{"key":"e_1_3_2_13_2","doi-asserted-by":"crossref","unstructured":"C. Lee J. Lawry A. F. T. Winfield Combining opinion pooling and evidential updating for multi-agent consensus in IJCAI International Joint Conference on Artificial Intelligence (IJCAI 2018) vol. 1 pp. 347\u2013353.","DOI":"10.24963\/ijcai.2018\/48"},{"key":"e_1_3_2_14_2","doi-asserted-by":"crossref","unstructured":"C. Lee J. Lawry A. F. T. Winfield Negative updating combined with opinion pooling in the best-of-n problem in swarm robotics in Swarm Intelligence 11th International Conference ANTS 2018 vol. 11172 of Lecture Notes in Computer Science (Springer 2018) pp. 97\u2013108.","DOI":"10.1007\/978-3-030-00533-7_8"},{"key":"e_1_3_2_15_2","doi-asserted-by":"publisher","DOI":"10.1109\/TCYB.2015.2429118"},{"key":"e_1_3_2_16_2","doi-asserted-by":"crossref","unstructured":"J. Lawry M. Crosscombe D. Harvey Epistemic sets applied to best-of- n problems in Symbolic and Quantitative Approaches to Reasoning with Uncertainty G. Kern-Isberner Z. Ognjanovi\u0107 Eds. (Springer International Publishing 2019) pp. 301\u2013312.","DOI":"10.1007\/978-3-030-29765-7_25"},{"key":"e_1_3_2_17_2","doi-asserted-by":"crossref","unstructured":"M. Crosscombe J. Lawry P. Bartashevich Evidence propagation and consensus formation in noisy environments in Scalable Uncertainty Management N. Ben Amor B. Quost M. Theobald Eds. (Springer International Publishing 2019) pp. 310\u2013323.","DOI":"10.1007\/978-3-030-35514-2_23"},{"key":"e_1_3_2_18_2","doi-asserted-by":"publisher","DOI":"10.1371\/journal.pone.0140950"},{"key":"e_1_3_2_19_2","doi-asserted-by":"crossref","unstructured":"M. S. Talamali J. A. R. Marshall T. Bose A. Reina Improving collective decision accuracy via time-varying cross-inhibition in Proceedings of the 2019 IEEE International Conference on Robotics and Automation (ICRA 2019) (IEEE 2019) pp. 9652\u20139659.","DOI":"10.1109\/ICRA.2019.8794284"},{"key":"e_1_3_2_20_2","doi-asserted-by":"publisher","DOI":"10.1007\/s10458-015-9323-3"},{"key":"e_1_3_2_21_2","doi-asserted-by":"publisher","DOI":"10.1007\/s11721-019-00169-8"},{"key":"e_1_3_2_22_2","doi-asserted-by":"crossref","unstructured":"M. D. Soorati M. Krome M. Mora-Mendoza J. Ghofrani H. Hamann Plasticity in collective decision-making for robots: Creating global reference frames detecting dynamic environments and preventing lock-ins in 2019 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE 2019) pp. 4100\u20134105.","DOI":"10.1109\/IROS40897.2019.8967777"},{"key":"e_1_3_2_23_2","doi-asserted-by":"crossref","unstructured":"J. Prasetyo G. De Masi P. Ranjan E. Ferrante The best-of- n problem with dynamic site qualities: Achieving adaptability with stubborn individuals in Swarm Intelligence (ANTS 2018) vol. 11172 of Lecture Notes in Computer Science (Springer 2018) pp. 239\u2013251.","DOI":"10.1007\/978-3-030-00533-7_19"},{"key":"e_1_3_2_24_2","doi-asserted-by":"publisher","DOI":"10.3389\/frobt.2019.00016"},{"key":"e_1_3_2_25_2","doi-asserted-by":"publisher","DOI":"10.1038\/s41559-019-1008-x"},{"key":"e_1_3_2_26_2","doi-asserted-by":"publisher","DOI":"10.1214\/aop\/1176996306"},{"key":"e_1_3_2_27_2","doi-asserted-by":"publisher","DOI":"10.1371\/journal.pone.0073216"},{"key":"e_1_3_2_28_2","doi-asserted-by":"publisher","DOI":"10.1126\/science.1210361"},{"key":"e_1_3_2_29_2","doi-asserted-by":"crossref","unstructured":"A. Reina T. Bose V. Trianni J. A. R. Marshall Effects of spatiality on value-sensitive decisions made by robot swarms in Proceedings of the 13th International Symposium on Distributed Autonomous Robotic Systems (DARS2016) (Springer 2018) vol. 6 of STAR pp. 461\u2013473.","DOI":"10.1007\/978-3-319-73008-0_32"},{"key":"e_1_3_2_30_2","doi-asserted-by":"publisher","DOI":"10.1098\/rsif.2008.0511"},{"key":"e_1_3_2_31_2","doi-asserted-by":"publisher","DOI":"10.1103\/PhysRevLett.112.038101"},{"key":"e_1_3_2_32_2","doi-asserted-by":"publisher","DOI":"10.1007\/s11721-017-0137-6"},{"key":"e_1_3_2_33_2","unstructured":"Y. Khaluf A. Reina T. Bose J. A. R. Marshall Agent density in collective decisions (2019); https:\/\/github.com\/DiODeProject\/MuMoT\/blob\/master\/DemoNotebooks\/Agent_density.ipynb [accessed 7 October 2020]."},{"key":"e_1_3_2_34_2","doi-asserted-by":"publisher","DOI":"10.1088\/1748-3190\/ab49a4"},{"key":"e_1_3_2_35_2","doi-asserted-by":"publisher","DOI":"10.1103\/PhysRevE.77.041121"},{"key":"e_1_3_2_36_2","doi-asserted-by":"publisher","DOI":"10.1038\/srep04184"},{"key":"e_1_3_2_37_2","doi-asserted-by":"publisher","DOI":"10.1007\/s11721-019-00173-y"},{"key":"e_1_3_2_38_2","doi-asserted-by":"publisher","DOI":"10.1002\/cplx.21736"},{"key":"e_1_3_2_39_2","unstructured":"L. B. Slobodkin Growth and Regulation of Animal Populations (Holt Rinehart and Winston 1961)."},{"key":"e_1_3_2_40_2","doi-asserted-by":"publisher","DOI":"10.1103\/PhysRevLett.101.018701"},{"key":"e_1_3_2_41_2","doi-asserted-by":"publisher","DOI":"10.1142\/S0219525908001805"},{"key":"e_1_3_2_42_2","doi-asserted-by":"publisher","DOI":"10.1371\/journal.pcbi.1007697"},{"key":"e_1_3_2_43_2","doi-asserted-by":"publisher","DOI":"10.1073\/pnas.1905585116"},{"key":"e_1_3_2_44_2","doi-asserted-by":"crossref","unstructured":"C. A. C. Parker H. Zhang Biologically inspired decision making for collective robotic systems in 2004 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566) (IEEE 2004) vol. 1 pp. 375\u2013380.","DOI":"10.1109\/IROS.2004.1389381"},{"key":"e_1_3_2_45_2","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2009.2014370"},{"key":"e_1_3_2_46_2","doi-asserted-by":"publisher","DOI":"10.1098\/rstb.2002.1066"},{"key":"e_1_3_2_47_2","doi-asserted-by":"publisher","DOI":"10.3389\/fnins.2012.00121"},{"key":"e_1_3_2_48_2","unstructured":"G. Valentini H. Hamann M. Dorigo Self-organized collective decision making: The weighted voter model in Proceedings of the 2014 International Conference on Autonomous Agents and Multi-Agent Systems (AAMAS) (International Foundation for Autonomous Agents and Multiagent Systems 2014) pp. 45\u201352."},{"key":"e_1_3_2_49_2","doi-asserted-by":"publisher","DOI":"10.1093\/beheco\/arr007"},{"key":"e_1_3_2_50_2","doi-asserted-by":"publisher","DOI":"10.1177\/1059712307082088"},{"key":"e_1_3_2_51_2","doi-asserted-by":"publisher","DOI":"10.1371\/journal.pone.0019981"},{"key":"e_1_3_2_52_2","first-page":"20140737","article-title":"How collective comparisons emerge without individual comparisons of the options","volume":"281","author":"Robinson E. J. H.","year":"2014","unstructured":"E. J. H. Robinson, O. Feinerman, N. R. Franks, How collective comparisons emerge without individual comparisons of the options. Proc. R. Soc. Lond. B Biol. Sci. 281, 20140737 (2014).","journal-title":"Proc. R. Soc. Lond. B Biol. Sci."},{"key":"e_1_3_2_53_2","doi-asserted-by":"publisher","DOI":"10.1103\/PhysRevLett.90.238701"},{"key":"e_1_3_2_54_2","doi-asserted-by":"crossref","unstructured":"K. Lerman A. Martinoli A. Galstyan A review of probabilistic macroscopic models for swarm robotic systems in Swarm Robotics (SR 2004) E. \u015eahin W. M. Spears Eds. vol. 3342 of Lecture Notes in Computer Science (Springer 2005) pp. 143\u2013152.","DOI":"10.1007\/978-3-540-30552-1_12"},{"key":"e_1_3_2_55_2","doi-asserted-by":"publisher","DOI":"10.1007\/s11721-008-0019-z"},{"key":"e_1_3_2_56_2","doi-asserted-by":"publisher","DOI":"10.1007\/s11721-015-0105-y"},{"key":"e_1_3_2_57_2","doi-asserted-by":"publisher","DOI":"10.1086\/283161"},{"key":"e_1_3_2_58_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.pisc.2014.12.002"},{"key":"e_1_3_2_59_2","doi-asserted-by":"publisher","DOI":"10.1007\/s00407-012-0098-5"},{"key":"e_1_3_2_60_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2013.08.006"},{"key":"e_1_3_2_61_2","doi-asserted-by":"publisher","DOI":"10.1037\/dec0000075"},{"key":"e_1_3_2_62_2","first-page":"20182825","article-title":"Phenotypic variability predicts decision accuracy in unicellular organisms","volume":"286","author":"Dussutour A.","year":"2019","unstructured":"A. Dussutour, Q. Ma, D. J. T. Sumpter, Phenotypic variability predicts decision accuracy in unicellular organisms. Proc. R. Soc. Lond. B Biol. Sci. 286, 20182825 (2019).","journal-title":"Proc. R. Soc. Lond. B Biol. Sci."},{"key":"e_1_3_2_63_2","doi-asserted-by":"publisher","DOI":"10.1007\/s11721-019-00176-9"},{"key":"e_1_3_2_64_2","doi-asserted-by":"publisher","DOI":"10.3389\/fnins.2014.00073"},{"key":"e_1_3_2_65_2","doi-asserted-by":"publisher","DOI":"10.1371\/journal.pone.0018901"},{"key":"e_1_3_2_66_2","doi-asserted-by":"crossref","unstructured":"A. E. Turgut C. Huepe H. \u00c7elikkanat F. G\u00f6k\u00e7e E. \u015eahin Modeling phase transition in self-organized mobile robot flocks in Ant Colony Optimization and Swarm Intelligence M. Dorigo M. Birattari C. Blum M. Clerc T. St\u00fctzle A. F. T. Winfield Eds. vol. 5217 of Lecture Notes in Computer Science (Springer 2008) pp. 108\u2013119.","DOI":"10.1007\/978-3-540-87527-7_10"},{"key":"e_1_3_2_67_2","doi-asserted-by":"publisher","DOI":"10.3389\/frobt.2020.00086"},{"key":"e_1_3_2_68_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.anbehav.2012.12.027"},{"key":"e_1_3_2_69_2","first-page":"20142723","article-title":"Composite collective decision-making","volume":"282","author":"Czaczkes T. J.","year":"2015","unstructured":"T. J. Czaczkes, B. Czaczkes, C. Iglhaut, J. Heinze, Composite collective decision-making. Proc. R. Soc. Lond. B Biol. Sci. 282, 20142723 (2015).","journal-title":"Proc. R. Soc. Lond. B Biol. Sci."},{"key":"e_1_3_2_70_2","doi-asserted-by":"publisher","DOI":"10.1177\/1059712314528009"},{"key":"e_1_3_2_71_2","doi-asserted-by":"publisher","DOI":"10.1038\/nature03236"},{"key":"e_1_3_2_72_2","doi-asserted-by":"publisher","DOI":"10.1126\/science.aas8827"},{"key":"e_1_3_2_73_2","doi-asserted-by":"publisher","DOI":"10.1177\/1059712312462248"},{"key":"e_1_3_2_74_2","doi-asserted-by":"publisher","DOI":"10.1103\/PhysRevLett.112.158701"},{"key":"e_1_3_2_75_2","doi-asserted-by":"publisher","DOI":"10.1038\/s41567-020-0787-y"},{"key":"e_1_3_2_76_2","doi-asserted-by":"publisher","DOI":"10.1103\/PhysRevLett.95.098101"},{"key":"e_1_3_2_77_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.anbehav.2003.09.004"},{"key":"e_1_3_2_78_2","doi-asserted-by":"publisher","DOI":"10.1093\/beheco\/arq198"},{"key":"e_1_3_2_79_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.jtbi.2019.110000"},{"key":"e_1_3_2_80_2","unstructured":"U. Madhushani N. E. Leonard Distributed learning: Sequential decision making in resource-constrained environments. arXiv:2004.06171 (2020)."},{"key":"e_1_3_2_81_2","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2020.2991612"},{"key":"e_1_3_2_82_2","doi-asserted-by":"crossref","unstructured":"A. Shirsat K. Elamvazhuthi S. Berman Multi-robot target search using probabilistic consensus on discrete Markov chains in 2020 IEEE International Symposium on Safety Security and Rescue Robotics (SSRR) (IEEE 2020) pp. 108\u2013115.","DOI":"10.1109\/SSRR50563.2020.9292589"},{"key":"e_1_3_2_83_2","doi-asserted-by":"publisher","DOI":"10.1098\/rsif.2020.0026"},{"key":"e_1_3_2_84_2","doi-asserted-by":"publisher","DOI":"10.1093\/beheco\/ars002"},{"key":"e_1_3_2_85_2","doi-asserted-by":"publisher","DOI":"10.1242\/jeb.059188"},{"key":"e_1_3_2_86_2","doi-asserted-by":"publisher","DOI":"10.1098\/rsif.2011.0059"},{"key":"e_1_3_2_87_2","doi-asserted-by":"publisher","DOI":"10.1007\/s11721-010-0042-8"},{"key":"e_1_3_2_88_2","doi-asserted-by":"publisher","DOI":"10.1007\/s00265-002-0487-x"},{"key":"e_1_3_2_89_2","first-page":"1","article-title":"Human-collective collaborative target selection","volume":"10","unstructured":"J. R. Cody, K. A. Roundtree, J. A. Adams, Human-collective collaborative target selection. ACM Trans. Human-Robot. Interact. 10, 1\u201329 (2021).","journal-title":"ACM Trans. Human-Robot. Interact."},{"key":"e_1_3_2_90_2","doi-asserted-by":"publisher","DOI":"10.1038\/srep31834"},{"key":"e_1_3_2_91_2","doi-asserted-by":"publisher","DOI":"10.1098\/rstb.2018.0375"},{"key":"e_1_3_2_92_2","doi-asserted-by":"publisher","DOI":"10.1023\/B:WINE.0000036458.88990.e5"},{"key":"e_1_3_2_93_2","doi-asserted-by":"publisher","DOI":"10.1126\/science.1254295"},{"key":"e_1_3_2_94_2","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.aau9178"},{"key":"e_1_3_2_95_2","unstructured":"J. T. Ebert M. Gauci R. Nagpal Multi-feature collective decision making in robot swarms in Proceedings of the 17th International Conference on Autonomous Agents and MultiAgent Systems (AAMAS 2018) pp. 1711\u20131719."},{"key":"e_1_3_2_96_2","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2017.2700059"},{"key":"e_1_3_2_97_2","doi-asserted-by":"publisher","DOI":"10.5772\/6794"},{"key":"e_1_3_2_98_2","doi-asserted-by":"crossref","unstructured":"F. Ducatelle G. A. Di Caro C. Pinciroli F. Mondada L. M. Gambardella Communication assisted navigation in robotic swarms: Self-organization and cooperation in 2011 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE 2011) pp. 4981\u20134988.","DOI":"10.1109\/IROS.2011.6094454"},{"key":"e_1_3_2_99_2","doi-asserted-by":"crossref","unstructured":"C. Pinciroli M. S. Talamali A. Reina J. A. R. Marshall V. Trianni Simulating Kilobots within ARGoS: Models and experimental validation in Swarm Intelligence (ANTS 2018) vol. 11172 of Lecture Notes in Computer Science M. Dorigo M. Birattari C. Blum A. Christensen A. Reina V. Trianni Eds. (Springer 2018) pp. 176\u2013187.","DOI":"10.1007\/978-3-030-00533-7_14"},{"key":"e_1_3_2_100_2","unstructured":"M. S. Talamali A. Saha J. A. R. Marshall A. Reina Supplementary code for robot simulation and analysis (2020); https:\/\/github.com\/DiODeProject\/AdaptationStudy."},{"key":"e_1_3_2_101_2","doi-asserted-by":"publisher","DOI":"10.3389\/frobt.2020.00053"},{"key":"e_1_3_2_102_2","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2016.2519537"},{"key":"e_1_3_2_103_2","doi-asserted-by":"crossref","unstructured":"B. Ermentrout \u201cXPPAUT \u201d Scholarpedia vol. 2 no. 1 p. 1399 2007. revision #136177.","DOI":"10.4249\/scholarpedia.1399"},{"key":"e_1_3_2_104_2","doi-asserted-by":"publisher","DOI":"10.7717\/peerj-cs.103"}],"container-title":["Science Robotics"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/syndication.highwire.org\/content\/doi\/10.1126\/scirobotics.abf1416","content-type":"unspecified","content-version":"vor","intended-application":"syndication"},{"URL":"https:\/\/www.science.org\/doi\/pdf\/10.1126\/scirobotics.abf1416","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2024,9,5]],"date-time":"2024-09-05T08:04:29Z","timestamp":1725523469000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.science.org\/doi\/10.1126\/scirobotics.abf1416"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2021,7,21]]},"references-count":103,"journal-issue":{"issue":"56","published-print":{"date-parts":[[2021,7,21]]}},"alternative-id":["10.1126\/scirobotics.abf1416"],"URL":"https:\/\/doi.org\/10.1126\/scirobotics.abf1416","relation":{},"ISSN":["2470-9476"],"issn-type":[{"value":"2470-9476","type":"electronic"}],"subject":[],"published":{"date-parts":[[2021,7,21]]},"article-number":"eabf1416"}}