“…Such models typically utilize feedback signals given to agents of the same caste (Kreiger & Billeter, 2000), in order to encourage the emergence of specialization for a specific task. Many variations of these models exist (Bonabeau et al, 1998), (Deneubourg et al, 1987), (Bonabeau et al, 1997), (Robson & Traniello, 1999), (Bonabeau & Theraulaz, 1999), (Theraulaz, Goss, Gervet, & Deneubourg, 1991), (Theraulaz, Gervet, & Semenoff, 1991), (Bonabeau et al, 1996), including those that use evolutionary algorithms (Tarapore, Floreano, & Keller, 2006), (Waibel et al, 2006), and reinforcement learning models , in order to derive threshold values. The goal of such models is typically to optimize global task performance.…”