“…Many artificial collective behavior systems have used design principles which draw their inspiration from examples of specialization in nature. Such examples include complex ecological communities such as social insect colonies (Noirot & Pasteels, 1987), (Wenseleers et al, 2003), (Seligmann, 1999), (Calderone & Page, 1988), (Bonabeau et al, 1996), (Bonabeau, Sobkowski, Theraulaz, & Deneubourg, 1997), biological neural networks (Baev, 1997), multi-cellular organisms (Hawthorne, 2001), economies of a nation, companies, corporations and other business organizations (Resnick, 1997), (Abdel-Rahman, 2001), (Ng & Yang, 1997). Such biologically inspired design principles are especially prevalent in multi-robot (Potter, Meeden, & Schultz, 2001) swarm intelligence (Bonabeau, Dorigo, & Theraulaz, 1998) and artificial life systems (Nishimura & Takashi, 1997) where it is highly desirable to replicate the success of biological collective behavior systems.…”