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One can consider this idea in the context of robotics, and suggest models for programming goal-oriented behavior into the members of a group of simple robots lacking global supervision. This can be done by controlling the local interactions between the robot agents, to have them jointly carry out a given mission. As a test case we analyze the problem of many simple robots cooperating to clean the dirty floor of a non-convex region inZ\n                    <jats:sup>2<\/jats:sup>\n                    , using the dirt on the floor as the main means of inter-robot communication.\n                  <\/jats:p>","DOI":"10.1177\/0278364907085789","type":"journal-article","created":{"date-parts":[[2007,12,18]],"date-time":"2007-12-18T07:54:13Z","timestamp":1197964453000},"page":"127-151","source":"Crossref","is-referenced-by-count":82,"title":["Cooperative Cleaners: A Study in Ant Robotics"],"prefix":"10.1177","volume":"27","author":[{"given":"Israel A.","family":"Wagner","sequence":"first","affiliation":[{"name":"Computer Science Department Technion, Haifa 32000, Israel , IBM Haifa Labs, MATAM, Haifa 31905, Israel"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yaniv","family":"Altshuler","sequence":"additional","affiliation":[{"name":"Computer Science Department Technion, Haifa 32000, Israel"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Vladimir","family":"Yanovski","sequence":"additional","affiliation":[{"name":"Computer Science Department Technion, Haifa 32000, Israel"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Alfred M.","family":"Bruckstein","sequence":"additional","affiliation":[{"name":"Computer Science Department Technion, Haifa 32000, Israel"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","published-online":{"date-parts":[[2008,1,1]]},"reference":[{"key":"atypb1","volume-title":"Proceedings of International Conference on Field and Service Robotics","author":"Acar, E.U."},{"key":"atypb2","doi-asserted-by":"publisher","DOI":"10.1086\/285418"},{"key":"atypb3","doi-asserted-by":"publisher","DOI":"10.1109\/100.667325"},{"key":"atypb4","volume-title":"Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems","author":"Arai, T."},{"key":"atypb5","doi-asserted-by":"publisher","DOI":"10.1016\/S0921-8890(05)80031-4"},{"key":"atypb6","doi-asserted-by":"publisher","DOI":"10.1080\/095281397147068"},{"key":"atypb7","volume-title":"Cooperative multi-agent Robotic Systems. 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