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Found 2 papers, 1 papers with code
Decentralised construction of a global coordinate system in a large swarm of minimalistic robots
Despite being unable to measure the bearing of incoming messages, the robots running our algorithm can calculate their position within a swarm deployed in a regular formation.
Anatomy of a superorganism -- structure and growth dynamics of army ant bivouacs
Beyond unicellular and multicellular organisms, there is a third type of structural complexity in living animals: that of the mechanical self-assembly of groups of distinct multicellular organisms into dynamical, functional structures.
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