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Over the past few years, the focus of robotic design has been moving from a scenario where a few specialized (and expensive) units were used to solve a variety of tasks, to a scenario where many general purpose (and cheap) units are used to achieve some common goal. Consequently, part of the focus has been to understand better how to coordinate and control a set of such "simpler" mobile units efficiently. Studies can be found in different disciplines, from engineering to artificial life: adoi:10.1007/s00224-005-1101-1 fatcat:4kmossntcjeqjkqbyolmizxq4y