“…An analogy would be a school of fish tracking a food source: all elements in the fish school sense distance and direction to the same food source and are interested in approaching it. On the other hand, multi-task networks [9,10,11,12,13,14,15,16,17] involve agents sensing data arising from different models and different clusters of agents may be interested in identifying separate models. A second analogy is a school of fish sensing information about multiple food sources.…”