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According to Zhang, the field of robotics actually favors what

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, studied a foraging scenario reminiscent of the double-bridge problem. In their scenario, a nest area is separated from a foraging patch by a wall with two gates, and the swarm needs to decide which gate to traverse in order to reach the foraging patch (the options of a best-of-2 problem). Both gates allow robots to forage between the foraging patch and the nest area (i.e., the objective of the swarm) and have therefore symmetric quality. However, the position of the two gates on the wall, which determine

Over the last years, several factors have made hepatectomy an increasingly safe surgery. A better knowledge of liver anatomy, the development of imaging techniques, a more complete preoperative assessment of the patient and his liver function multidisciplinary work as well as the improvement in surgical and anesthetic techniques have contributed to this.

One of the first research studies developed with an opinion-based approach is that of , which tackled a prey-hunting scenario with prey. The authors proposed a collective decision-making strategy based on the majority rule. At the beginning of the experiment, each robot favors a prey chosen at random. At each time step, robots apply the majority rule over their neighborhood in order to reconsider and possibly change their opinions. Following this strategy, the swarm decides which prey to hunt first, capture

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prey foraging problem swarm gates