{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,7,10]],"date-time":"2026-07-10T16:22:52Z","timestamp":1783700572419,"version":"3.55.0"},"reference-count":163,"publisher":"Association for Computing Machinery (ACM)","issue":"2","license":[{"start":{"date-parts":[[2023,9,15]],"date-time":"2023-09-15T00:00:00Z","timestamp":1694736000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.acm.org\/publications\/policies\/copyright_policy#Background"}],"funder":[{"name":"Australian Research Council Discovery Project","award":["DP200100710"],"award-info":[{"award-number":["DP200100710"]}]}],"content-domain":{"domain":["dl.acm.org"],"crossmark-restriction":true},"short-container-title":["ACM Comput. Surv."],"published-print":{"date-parts":[[2024,2,29]]},"abstract":"<jats:p>The behaviour of social insects such as bees and ants has influenced the development of swarm robots. To enable robots to cooperate together, swarm robotics employs principles such as communication, coordination, and collaboration. Collaboration among multiple robots can lead to a faster task completion time compared to the utilisation of a single, complex robot. One of the key aspects of swarm robotics is that control is distributed uniformly across the robots in the swarm, which boosts the system\u2019s resilience and fault tolerance. Through the use of the robots\u2019 embodied sensors and actuators, this distributed control often facilitates the emergence of collective behaviours through the interaction of the robots with one another and with the environment. The purpose of this survey is to examine the reasons behind the lack of utilisation of swarm robots in multi-tasking applications, which will be accomplished by studying previous research works in the field. We examine the literature from the perspective of multi-tasking: we pay particular attention to concepts that contribute to the progress of swarm robotics for multi-tasking applications. To do this, we first examine the different studies in multi-tasking swarm robotics, covering platforms, multi-tasking scenarios, sub-task allocation methodologies, and performance metrics. We then highlight several swarm robotics related disciplines that have significant effect on the development of swarm robotics for multi-tasking problems. We propose two taxonomies: the first categorises works based on the characteristics of the scenarios being handled, whereas the second taxonomy categorises works based on the swarming strategies utilised to achieve multi-tasking capabilities. We finish with a discussion of swarm robots\u2019 existing limitations for real-world multi-tasking applications, as well as recommendations for future research directions.<\/jats:p>","DOI":"10.1145\/3611652","type":"journal-article","created":{"date-parts":[[2023,7,31]],"date-time":"2023-07-31T12:28:07Z","timestamp":1690806487000},"page":"1-38","update-policy":"https:\/\/doi.org\/10.1145\/crossmark-policy","source":"Crossref","is-referenced-by-count":54,"title":["Swarm Robotics: A Survey from a Multi-Tasking Perspective"],"prefix":"10.1145","volume":"56","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-4954-3631","authenticated-orcid":false,"given":"Essam","family":"Debie","sequence":"first","affiliation":[{"name":"University of New South Wales, Canberra, Australia"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-7187-0474","authenticated-orcid":false,"given":"Kathryn","family":"Kasmarik","sequence":"additional","affiliation":[{"name":"University of New South Wales, Canberra, Australia"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-0222-430X","authenticated-orcid":false,"given":"Matt","family":"Garratt","sequence":"additional","affiliation":[{"name":"University of New South Wales, Canberra, Australia"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"320","published-online":{"date-parts":[[2023,9,15]]},"reference":[{"key":"e_1_3_1_2_2","unstructured":"Box2d. n.d. Box2d Documentation. Retrieved August 5 2023 from https:\/\/box2d.org\/documentation\/"},{"key":"e_1_3_1_3_2","unstructured":"Jasmine. n.d. Jasmine Documentation. Retrieved August 5 2023 from http:\/\/www.swarmrobot.org\/Simulation.html"},{"key":"e_1_3_1_4_2","unstructured":"ROS. n.d. ROS Documentation. Retrieved August 5 2023 from http:\/\/docs.ros.org\/"},{"key":"e_1_3_1_5_2","unstructured":"UDK. n.d. UDK Documentation. Retrieved August 5 2023 from https:\/\/docs.unrealengine.com\/udk\/Three\/WebHome.html"},{"key":"e_1_3_1_6_2","doi-asserted-by":"publisher","DOI":"10.1109\/ACC.2012.6314729"},{"key":"e_1_3_1_7_2","doi-asserted-by":"publisher","DOI":"10.1002\/asjc.982"},{"key":"e_1_3_1_8_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.compag.2021.106608"},{"key":"e_1_3_1_9_2","doi-asserted-by":"publisher","DOI":"10.1007\/s42452-019-0872-y"},{"key":"e_1_3_1_10_2","article-title":"Hierarchical Swarm Robotics","author":"Alunni Nicholas","year":"2011","unstructured":"Nicholas Alunni, R. Goloski, A. Haggerty, and E. Jones. 2011. Hierarchical Swarm Robotics. Master\u2019s thesis. Project Number GSF113. Worcester Polytechnic Institute.","journal-title":"Master\u2019s thesis. Project Number GSF113."},{"key":"e_1_3_1_11_2","doi-asserted-by":"crossref","unstructured":"T. Alves J. Rivi\u00e8re C. Alaux Y. Le Conte F. Singhoff T. Duval and V. Rodin. 2020. An interruptible task allocation model: Application to a honey bee colony simulation. In Proceedings of the 18th International Conference on Practical Applications of Agents and Multi-Agent Systems (PAAMS\u201920) . 3\u201315.","DOI":"10.1007\/978-3-030-49778-1_1"},{"key":"e_1_3_1_12_2","doi-asserted-by":"publisher","DOI":"10.1016\/S0065-3454(03)33001-3"},{"key":"e_1_3_1_13_2","doi-asserted-by":"publisher","DOI":"10.1007\/PL00001702"},{"key":"e_1_3_1_14_2","doi-asserted-by":"publisher","DOI":"10.1109\/MRA.2006.1678144"},{"key":"e_1_3_1_15_2","first-page":"101","volume-title":"International Symposium on Flexible Automation","author":"Balakirsky Stephen","year":"2012","unstructured":"Stephen Balakirsky and Zeid Kootbally. 2012. USARSim\/ROS: A combined framework for robotic control and simulation. In International Symposium on Flexible Automation, Vol. 45110. American Society of Mechanical Engineers, 101\u2013108."},{"key":"e_1_3_1_16_2","doi-asserted-by":"publisher","DOI":"10.1109\/ACC.2013.6580766"},{"key":"e_1_3_1_17_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.neucom.2015.05.116"},{"key":"e_1_3_1_18_2","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2009.2024997"},{"key":"e_1_3_1_19_2","first-page":"1953","article-title":"Stochastic strategies for a swarm robotic assembly system","author":"Berman Spring","year":"2009","unstructured":"Spring Berman, Vijay Kumar, and Radhika Nagpal. 2009. Stochastic strategies for a swarm robotic assembly system. In Proceedings of the IEEE International Conference on Robotics and Automation.1953\u20131958.","journal-title":"Proceedings of the IEEE International Conference on Robotics and Automation."},{"key":"e_1_3_1_20_2","doi-asserted-by":"publisher","DOI":"10.1146\/annurev.ento.46.1.413"},{"key":"e_1_3_1_21_2","doi-asserted-by":"publisher","DOI":"10.1109\/ICCA.2013.6565113"},{"key":"e_1_3_1_22_2","doi-asserted-by":"crossref","unstructured":"Eric Bonabeau Guy Th\u00e9raulaz and Marco Doringo. 1999. Swarm Intelligence: From Natural to Artificial Swarm Intelligence . Santa Fe Institute Studies on the Sciences of Complexity. Oxford University Press.","DOI":"10.1093\/oso\/9780195131581.001.0001"},{"key":"e_1_3_1_23_2","doi-asserted-by":"publisher","DOI":"10.1006\/bulm.1998.0041"},{"key":"e_1_3_1_24_2","doi-asserted-by":"publisher","DOI":"10.1073\/pnas.1714006115"},{"key":"e_1_3_1_25_2","doi-asserted-by":"publisher","DOI":"10.1007\/s11721-012-0075-2"},{"key":"e_1_3_1_26_2","doi-asserted-by":"publisher","DOI":"10.1007\/s10458-012-9212-y"},{"key":"e_1_3_1_27_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2012.05.018"},{"key":"e_1_3_1_28_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2012.05.018"},{"key":"e_1_3_1_29_2","doi-asserted-by":"publisher","DOI":"10.2307\/j.ctvzxx9tx"},{"key":"e_1_3_1_30_2","doi-asserted-by":"publisher","DOI":"10.1007\/978-1-4757-6451-2_1"},{"key":"e_1_3_1_31_2","doi-asserted-by":"publisher","DOI":"10.1007\/s11721-015-0117-7"},{"key":"e_1_3_1_32_2","article-title":"Task allocation for a robotic swarm based on an adaptive response threshold model","author":"Castello E.","year":"2013","unstructured":"E. Castello, T. Yamamoto, Y. Nakamura, and H. Ishiguro. 2013. Task allocation for a robotic swarm based on an adaptive response threshold model. In Proceedings of the International Conference on Control, Automation, and Systems.","journal-title":"Proceedings of the International Conference on Control, Automation, and Systems."},{"key":"e_1_3_1_33_2","doi-asserted-by":"publisher","DOI":"10.1080\/01691864.2014.939104"},{"key":"e_1_3_1_34_2","doi-asserted-by":"publisher","DOI":"10.1145\/2661735.2661737"},{"key":"e_1_3_1_35_2","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-030-82199-9_13"},{"key":"e_1_3_1_36_2","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2018.2857475"},{"key":"e_1_3_1_37_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.compeleceng.2021.107420"},{"key":"e_1_3_1_38_2","doi-asserted-by":"publisher","DOI":"10.1109\/JSEN.2020.3013265"},{"key":"e_1_3_1_39_2","doi-asserted-by":"publisher","DOI":"10.1109\/TRA.2004.824698"},{"key":"e_1_3_1_40_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.neucom.2014.08.094"},{"key":"e_1_3_1_41_2","doi-asserted-by":"publisher","DOI":"10.1007\/s00500-017-2819-9"},{"key":"e_1_3_1_42_2","doi-asserted-by":"publisher","DOI":"10.1109\/JPROC.2006.876939"},{"key":"e_1_3_1_43_2","doi-asserted-by":"publisher","DOI":"10.3390\/s21062062"},{"key":"e_1_3_1_44_2","doi-asserted-by":"publisher","DOI":"10.1109\/3477.484436"},{"key":"e_1_3_1_45_2","doi-asserted-by":"publisher","DOI":"10.1109\/JPROC.2021.3072740"},{"key":"e_1_3_1_46_2","doi-asserted-by":"publisher","DOI":"10.1007\/s00265-012-1343-2"},{"key":"e_1_3_1_47_2","doi-asserted-by":"publisher","DOI":"10.1146\/annurev-ecolsys-102710-145017"},{"key":"e_1_3_1_48_2","doi-asserted-by":"publisher","DOI":"10.1007\/s10846-014-0086-x"},{"key":"e_1_3_1_49_2","doi-asserted-by":"publisher","DOI":"10.1007\/s10846-014-0086-x"},{"key":"e_1_3_1_50_2","doi-asserted-by":"publisher","DOI":"10.1007\/BF00240651"},{"key":"e_1_3_1_51_2","doi-asserted-by":"publisher","DOI":"10.1155\/2011\/679875"},{"key":"e_1_3_1_52_2","doi-asserted-by":"publisher","DOI":"10.1115\/DSCC2016-9653"},{"key":"e_1_3_1_53_2","doi-asserted-by":"publisher","DOI":"10.1109\/SSCI47803.2020.9308572"},{"key":"e_1_3_1_54_2","doi-asserted-by":"publisher","DOI":"10.1109\/MPRV.2017.11"},{"key":"e_1_3_1_55_2","doi-asserted-by":"publisher","DOI":"10.1371\/journal.pcbi.1004273"},{"key":"e_1_3_1_56_2","doi-asserted-by":"publisher","DOI":"10.1371\/journal.pbio.1000292"},{"key":"e_1_3_1_57_2","doi-asserted-by":"publisher","DOI":"10.1145\/234313.234350"},{"key":"e_1_3_1_58_2","doi-asserted-by":"publisher","DOI":"10.1111\/j.1365-2311.1979.tb00581.x"},{"key":"e_1_3_1_59_2","doi-asserted-by":"publisher","DOI":"10.2514\/6.2015-1540"},{"key":"e_1_3_1_60_2","first-page":"71","volume-title":"Proceedings of the International Workshop on Swarm Robotics","author":"Gazi Veysel","year":"2006","unstructured":"Veysel Gazi and Bar\u0131\u015f Fidan. 2006. Coordination and control of multi-agent dynamic systems: Models and approaches. In Proceedings of the International Workshop on Swarm Robotics. 71\u2013102."},{"key":"e_1_3_1_61_2","unstructured":"Georgia Institute of Technology. n.d. The Robotarium Project: A Remotely Accessible Swarm Robotics Research Platform. Retrieved August 4 2023 from https:\/\/robotarium.gatech.edu\/"},{"key":"e_1_3_1_62_2","doi-asserted-by":"publisher","DOI":"10.1177\/0278364904045564"},{"key":"e_1_3_1_63_2","doi-asserted-by":"crossref","unstructured":"O. Gigliotta. 2016. Task allocation in evolved communicating homogeneous robots: The importance of being different. In Trends and Applications of Scalable Multi-Agent Systems the PAAMS Collection . Advances in Intelligent Systems and Computing Vol. 473. Springer 181\u2013190.","DOI":"10.1007\/978-3-319-40159-1_15"},{"key":"e_1_3_1_64_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.neucom.2017.05.093"},{"key":"e_1_3_1_65_2","volume-title":"Preprints of the 3rd International Symposium on Experimental Robotics","author":"Guignard A.","year":"1993","unstructured":"A. Guignard, E. Franzi, and F. Mondada. 1993. Khepera, a miniature mobile robot. In Preprints of the 3rd International Symposium on Experimental Robotics."},{"key":"e_1_3_1_66_2","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2007.4399528"},{"key":"e_1_3_1_67_2","doi-asserted-by":"publisher","DOI":"10.1007\/s002650000312"},{"key":"e_1_3_1_68_2","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2011.2172702"},{"key":"e_1_3_1_69_2","doi-asserted-by":"publisher","DOI":"10.1007\/s10015-020-00641-3"},{"key":"e_1_3_1_70_2","doi-asserted-by":"publisher","DOI":"10.1007\/s10015-018-0483-5"},{"key":"e_1_3_1_71_2","doi-asserted-by":"publisher","DOI":"10.20965\/jaciii.2018.p0621"},{"key":"e_1_3_1_72_2","article-title":"Mapping state space using landmarks for universal goal reaching","volume":"32","author":"Huang Zhiao","year":"2019","unstructured":"Zhiao Huang, Fangchen Liu, and Hao Su. 2019. Mapping state space using landmarks for universal goal reaching. Advances in Neural Information Processing Systems 32 (2019), 1\u201311.","journal-title":"Advances in Neural Information Processing Systems"},{"key":"e_1_3_1_73_2","first-page":"9","volume-title":"Proceedings of the Workshop on Balancing Reactivity and Social Deliberation in Multi-Agent Systems","author":"Iocchi Luca","year":"2000","unstructured":"Luca Iocchi, Daniele Nardi, and Massimiliano Salerno. 2000. Reactivity and deliberation: A survey on multi-robot systems. In Proceedings of the Workshop on Balancing Reactivity and Social Deliberation in Multi-Agent Systems. 9\u201332."},{"key":"e_1_3_1_74_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.ifacol.2017.08.1225"},{"key":"e_1_3_1_75_2","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2018.2858292"},{"key":"e_1_3_1_76_2","doi-asserted-by":"publisher","DOI":"10.1007\/s11721-018-0160-2"},{"key":"e_1_3_1_77_2","doi-asserted-by":"publisher","DOI":"10.1177\/0954410018772622"},{"issue":"2","key":"e_1_3_1_78_2","first-page":"119","article-title":"The evolution of the organization of work in social insects","volume":"20","author":"Jeanne Robert L.","year":"1986","unstructured":"Robert L. Jeanne. 1986. The evolution of the organization of work in social insects. Italian Journal of Zoology 20, 2 (1986), 119\u2013133.","journal-title":"Italian Journal of Zoology"},{"key":"e_1_3_1_79_2","volume-title":"Proceedings of the 1999 IEEE International Conference on Systems, Man, and Cybernetics, Vol. 6. IEEE, Los Alamitos, CA, 614\u2013619.","author":"Jun Jin-Hyung","year":"1999","unstructured":"Jin-Hyung Jun, Dong-Wook Lee, and Kwee-Bo Sim. 1999. Realization of cooperative strategies and swarm behavior in distributed autonomous robotic systems using artificial immune system. In Proceedings of the 1999 IEEE International Conference on Systems, Man, and Cybernetics, Vol. 6. IEEE, Los Alamitos, CA, 614\u2013619."},{"key":"e_1_3_1_80_2","doi-asserted-by":"crossref","first-page":"193","DOI":"10.1007\/978-4-431-55879-8_14","volume-title":"Distributed Autonomous Robotic Systems","author":"Kanakia Anshul","year":"2016","unstructured":"Anshul Kanakia, John Klingner, and Nikolaus Correll. 2016. A response threshold sigmoid function model for swarm robot collaboration. In Distributed Autonomous Robotic Systems. Springer, 193\u2013206."},{"key":"e_1_3_1_81_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.amc.2009.03.090"},{"key":"e_1_3_1_82_2","doi-asserted-by":"publisher","DOI":"10.3390\/vehicles3030027"},{"key":"e_1_3_1_83_2","first-page":"354","volume-title":"Proceedings of the 2018 FLAIRS Conference","author":"Kazakova Vera A.","year":"2018","unstructured":"Vera A. Kazakova and Annie S. Wu. 2018. Specialization versus re-specialization: Effects of Hebbian learning in a dynamic environment. In Proceedings of the 2018 FLAIRS Conference. 354\u2013359."},{"key":"e_1_3_1_84_2","doi-asserted-by":"publisher","DOI":"10.1109\/ICNN.1995.488968"},{"key":"e_1_3_1_85_2","first-page":"85","volume-title":"Collaborative Agents\u2014Research and Development","author":"Keshmiri Soheil","year":"2009","unstructured":"Soheil Keshmiri and Shahram Payandeh. 2009. A centralized framework to multi-robots formation control: Theory and application. In Collaborative Agents\u2014Research and Development. Springer, 85\u201398."},{"key":"e_1_3_1_86_2","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-18299-5_2"},{"key":"e_1_3_1_87_2","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2006.889492"},{"key":"e_1_3_1_88_2","doi-asserted-by":"publisher","DOI":"10.1177\/1059712316651686"},{"key":"e_1_3_1_89_2","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2004.1389727"},{"key":"e_1_3_1_90_2","doi-asserted-by":"publisher","DOI":"10.1177\/0278364913496484"},{"key":"e_1_3_1_91_2","doi-asserted-by":"publisher","DOI":"10.1038\/35023164"},{"key":"e_1_3_1_92_2","doi-asserted-by":"publisher","DOI":"10.1145\/1152934.1152936"},{"key":"e_1_3_1_93_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.swevo.2018.11.005"},{"key":"e_1_3_1_94_2","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2020.2999538"},{"key":"e_1_3_1_95_2","doi-asserted-by":"publisher","DOI":"10.1007\/s11047-016-9557-2"},{"key":"e_1_3_1_96_2","article-title":"Learning multi-level hierarchies with hindsight","author":"Levy Andrew","year":"2017","unstructured":"Andrew Levy, George Konidaris, Robert Platt, and Kate Saenko. 2017. Learning multi-level hierarchies with hindsight. arXiv preprint arXiv:1712.00948 (2017).","journal-title":"arXiv preprint arXiv:1712.00948"},{"issue":"20","key":"e_1_3_1_97_2","first-page":"7304","article-title":"Particle swarm optimization-based clustering algorithm with mobile sink for WSNs","volume":"16","author":"Li Jian","year":"2016","unstructured":"Jian Li, Shuai Guo, Yuanyuan Zhang, Deyun Chen, Wei Yu, and Baohua Zheng. 2016. Particle swarm optimization-based clustering algorithm with mobile sink for WSNs. IEEE Sensors Journal 16, 20 (2016), 7304\u20137314.","journal-title":"IEEE Sensors Journal"},{"key":"e_1_3_1_98_2","doi-asserted-by":"crossref","unstructured":"Yanming Liang and Haiyang Zhao. 2023. An improved algorithm of multi-robot task assignment and path planning. In Intelligent Robotics . Communications in Computer and Information Science Vol. 1770. Springer 71\u201382.","DOI":"10.1007\/978-981-99-0301-6_6"},{"key":"e_1_3_1_99_2","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2004.1308924"},{"key":"e_1_3_1_100_2","first-page":"95","volume-title":"Proceedings of the AAAI Spring Symposium: Agents That Learn from Human Teachers","author":"Lien Jyh-Ming","year":"2009","unstructured":"Jyh-Ming Lien and Emlyn Pratt. 2009. Interactive planning for shepherd motion.. In Proceedings of the AAAI Spring Symposium: Agents That Learn from Human Teachers. 95\u2013102."},{"key":"e_1_3_1_101_2","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-642-29350-4_56"},{"key":"e_1_3_1_102_2","doi-asserted-by":"publisher","DOI":"10.1177\/1059712307082088"},{"key":"e_1_3_1_103_2","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2020.3016009"},{"key":"e_1_3_1_104_2","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2020.3016009"},{"key":"e_1_3_1_105_2","volume-title":"Distributed Algorithms","author":"Lynch Nancy A.","year":"1996","unstructured":"Nancy A. Lynch. 1996. Distributed Algorithms. Elsevier."},{"key":"e_1_3_1_106_2","doi-asserted-by":"crossref","unstructured":"M. H. A. Majid M. R. Arshad and R. M. Mokhtar. 2022. Swarm robotics behaviors and tasks: A technical review. In Control Engineering in Robotics and Industrial Automation . Studies in Systems Decision and Control Vol. 371. Springer 99\u2013167.","DOI":"10.1007\/978-3-030-74540-0_5"},{"key":"e_1_3_1_107_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.rcim.2022.102514"},{"key":"e_1_3_1_108_2","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-11271-8_7"},{"key":"e_1_3_1_109_2","doi-asserted-by":"publisher","DOI":"10.1023\/A:1022291921717"},{"key":"e_1_3_1_110_2","doi-asserted-by":"publisher","DOI":"10.5772\/5618"},{"key":"e_1_3_1_111_2","doi-asserted-by":"publisher","DOI":"10.1038\/nature14236"},{"key":"e_1_3_1_112_2","doi-asserted-by":"publisher","DOI":"10.1109\/CEC.2008.4631346"},{"key":"e_1_3_1_113_2","article-title":"Planning with goal-conditioned policies","volume":"32","author":"Nasiriany Soroush","year":"2019","unstructured":"Soroush Nasiriany, Vitchyr Pong, Steven Lin, and Sergey Levine. 2019. Planning with goal-conditioned policies. Advances in Neural Information Processing Systems 32 (2019), 1\u201312.","journal-title":"Advances in Neural Information Processing Systems"},{"key":"e_1_3_1_114_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.swevo.2019.100565"},{"key":"e_1_3_1_115_2","doi-asserted-by":"publisher","DOI":"10.1109\/IJCNN.2018.8489674"},{"key":"e_1_3_1_116_2","doi-asserted-by":"publisher","DOI":"10.5555\/1734081"},{"key":"e_1_3_1_117_2","unstructured":"NVIDIA. n.d. Isaac Sim. Retrieved February 19 2023 from https:\/\/developer.nvidia.com\/isaac-sim"},{"key":"e_1_3_1_118_2","doi-asserted-by":"publisher","DOI":"10.7551\/ecal_a_056"},{"key":"e_1_3_1_119_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.neucom.2018.03.038"},{"key":"e_1_3_1_120_2","doi-asserted-by":"publisher","DOI":"10.1109\/ICAR.2017.8023527"},{"key":"e_1_3_1_121_2","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-32552-1_53"},{"key":"e_1_3_1_122_2","doi-asserted-by":"publisher","DOI":"10.1126\/science.1145803"},{"key":"e_1_3_1_123_2","doi-asserted-by":"publisher","DOI":"10.20965\/jrm.2019.p0558"},{"key":"e_1_3_1_124_2","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2015.7139438"},{"key":"e_1_3_1_125_2","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2011.6094829"},{"key":"e_1_3_1_126_2","doi-asserted-by":"publisher","DOI":"10.1007\/s11721-011-0060-1"},{"key":"e_1_3_1_127_2","doi-asserted-by":"publisher","DOI":"10.1177\/1059712313484771"},{"key":"e_1_3_1_128_2","doi-asserted-by":"publisher","DOI":"10.1007\/s000400050119"},{"key":"e_1_3_1_129_2","doi-asserted-by":"publisher","DOI":"10.1145\/37401.37406"},{"key":"e_1_3_1_130_2","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2013.6696520"},{"key":"e_1_3_1_131_2","doi-asserted-by":"crossref","unstructured":"Erol \u015eahin. 2004. Swarm robotics: From sources of inspiration to domains of application. In Swarm Robotics . Lecture Notes in Computer Science Vol. 3342. Springer 10\u201320.","DOI":"10.1007\/978-3-540-30552-1_2"},{"key":"e_1_3_1_132_2","doi-asserted-by":"publisher","DOI":"10.1007\/BF01242563"},{"key":"e_1_3_1_133_2","doi-asserted-by":"crossref","unstructured":"T. Schmickl and K. Crailsheim. 2008. An individual-based model of task selection in honeybees. In From Animals to Animats 10 . Lecture Notes in Computer Science Vol. 5040. Springer 383\u2013392.","DOI":"10.1007\/978-3-540-69134-1_38"},{"key":"e_1_3_1_134_2","doi-asserted-by":"publisher","DOI":"10.3389\/frobt.2020.00036"},{"key":"e_1_3_1_135_2","doi-asserted-by":"publisher","DOI":"10.2307\/j.ctv1kz4h15"},{"key":"e_1_3_1_136_2","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-642-34859-4_20"},{"key":"e_1_3_1_137_2","doi-asserted-by":"crossref","first-page":"621","DOI":"10.1007\/978-3-319-67361-5_40","volume-title":"Field and Service Robotics","author":"Shah Shital","year":"2018","unstructured":"Shital Shah, Debadeepta Dey, Chris Lovett, and Ashish Kapoor. 2018. AirSim: High-fidelity visual and physical simulation for autonomous vehicles. In Field and Service Robotics. Springer, 621\u2013635."},{"key":"e_1_3_1_138_2","doi-asserted-by":"publisher","DOI":"10.1007\/s13042-012-0071-2"},{"key":"e_1_3_1_139_2","doi-asserted-by":"publisher","DOI":"10.1016\/S0004-3702(98)00045-9"},{"key":"e_1_3_1_140_2","doi-asserted-by":"publisher","DOI":"10.1088\/1742-6596\/803\/1\/012146"},{"key":"e_1_3_1_141_2","doi-asserted-by":"crossref","unstructured":"L. Silva Jr. and N. Nedjah. 2015. Wave algorithm for recruitment in swarm robotics. In Computational Science and Its Applications\u2014ICCSA 2015 . Lecture Notes in Computer Science Vol. 9156. Springer 3\u201313.","DOI":"10.1007\/978-3-319-21407-8_1"},{"key":"e_1_3_1_142_2","doi-asserted-by":"publisher","DOI":"10.4018\/978-1-4666-9572-6.ch021"},{"key":"e_1_3_1_143_2","doi-asserted-by":"crossref","unstructured":"Luneque Del Rio de Souza e Silva Jr. and Nadia Nedjah. 2016. Distributed strategy for robots recruitment in swarm-based systems. International Journal of Bio-Inspired Computation 8 2 (2016) 99\u2013108.","DOI":"10.1504\/IJBIC.2016.076336"},{"key":"e_1_3_1_144_2","doi-asserted-by":"publisher","DOI":"10.1109\/ICUAS51884.2021.9476736"},{"key":"e_1_3_1_145_2","doi-asserted-by":"publisher","DOI":"10.1109\/IROS45743.2020.9340854"},{"key":"e_1_3_1_146_2","doi-asserted-by":"publisher","DOI":"10.1109\/TCYB.2017.2743164"},{"key":"e_1_3_1_147_2","doi-asserted-by":"publisher","DOI":"10.1103\/PhysRevLett.75.1226"},{"key":"e_1_3_1_148_2","doi-asserted-by":"publisher","DOI":"10.5555\/1732643.1732668"},{"key":"e_1_3_1_149_2","doi-asserted-by":"publisher","DOI":"10.1007\/s10015-018-0466-6"},{"key":"e_1_3_1_150_2","unstructured":"Uri Wilensky. n.d. NetLogo Models Library. Retrieved August 5 2023 from http:\/\/ccl.northwestern.edu\/netlogo\/models\/"},{"key":"e_1_3_1_151_2","doi-asserted-by":"publisher","DOI":"10.1007\/s11721-020-00182-2"},{"key":"e_1_3_1_152_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.jii.2021.100239"},{"key":"e_1_3_1_153_2","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-030-78743-1_14"},{"key":"e_1_3_1_154_2","doi-asserted-by":"publisher","DOI":"10.1109\/CDS52072.2021.00043"},{"key":"e_1_3_1_155_2","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-642-04944-6_14"},{"key":"e_1_3_1_156_2","doi-asserted-by":"publisher","DOI":"10.1109\/ICARA.2000.4803959"},{"key":"e_1_3_1_157_2","article-title":"Response threshold-based task allocation in a reinforcement learning robotic swarm","author":"Yasuda T.","year":"2014","unstructured":"T. Yasuda, K. Kage, and K. Ohkura. 2014. Response threshold-based task allocation in a reinforcement learning robotic swarm. In Proceedings of the 2014 IEEE 7th International Workshop on Computational Intelligence and Applications (IWCIA\u201914).","journal-title":"Proceedings of the 2014 IEEE 7th International Workshop on Computational Intelligence and Applications (IWCIA\u201914)."},{"key":"e_1_3_1_158_2","doi-asserted-by":"publisher","DOI":"10.1088\/1748-3190\/10\/6\/066005"},{"key":"e_1_3_1_159_2","doi-asserted-by":"publisher","DOI":"10.1177\/1059712316633028"},{"key":"e_1_3_1_160_2","doi-asserted-by":"publisher","DOI":"10.1504\/IJWMC.2014.062039"},{"key":"e_1_3_1_161_2","doi-asserted-by":"publisher","DOI":"10.1504\/IJWMC.2014.062039"},{"key":"e_1_3_1_162_2","doi-asserted-by":"publisher","DOI":"10.1109\/ICInfA.2014.6932816"},{"key":"e_1_3_1_163_2","doi-asserted-by":"publisher","DOI":"10.1109\/ICCA.2016.7505246"},{"key":"e_1_3_1_164_2","doi-asserted-by":"crossref","unstructured":"Inmo Jang Hyo-Sang Shin and Antonios Tsourdos. 2018. A comparative study of game-theoretical and markov-chain-based approaches to division of labour in a robotic swarm. IFAC-PapersOnLine 51 12 (2018) 62\u201368.","DOI":"10.1016\/j.ifacol.2018.07.089"}],"container-title":["ACM Computing Surveys"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/dl.acm.org\/doi\/10.1145\/3611652","content-type":"unspecified","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/dl.acm.org\/doi\/pdf\/10.1145\/3611652","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,6,17]],"date-time":"2025-06-17T16:36:12Z","timestamp":1750178172000},"score":1,"resource":{"primary":{"URL":"https:\/\/dl.acm.org\/doi\/10.1145\/3611652"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2023,9,15]]},"references-count":163,"journal-issue":{"issue":"2","published-print":{"date-parts":[[2024,2,29]]}},"alternative-id":["10.1145\/3611652"],"URL":"https:\/\/doi.org\/10.1145\/3611652","relation":{},"ISSN":["0360-0300","1557-7341"],"issn-type":[{"value":"0360-0300","type":"print"},{"value":"1557-7341","type":"electronic"}],"subject":[],"published":{"date-parts":[[2023,9,15]]},"assertion":[{"value":"2022-05-06","order":0,"name":"received","label":"Received","group":{"name":"publication_history","label":"Publication History"}},{"value":"2023-07-11","order":2,"name":"accepted","label":"Accepted","group":{"name":"publication_history","label":"Publication History"}},{"value":"2023-09-15","order":3,"name":"published","label":"Published","group":{"name":"publication_history","label":"Publication History"}}]}}