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One of the essential benefits of multi-robot systems is redundancy. In case one robot breaks down, another robot can take steps to repair the failed robot or take over the failed robot's task. Although fault tolerance and robustness to individual failures have often been central arguments in favor of multi-robot systems, few studies have been dedicated to the subject. In this study, we take inspiration from the synchronized flashing behavior observed in some species of fireflies. We derive adoi:10.1109/tevc.2009.2017516 fatcat:lfm5cnrwr5f2rd2ttbtija6rk4