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Achieving tasks with a multiple robot system will require a control system that is both simple and scalable as the number of robots increases. Collective b e h a vior as demonstrated by social insects is a form of decentralized control that may prove useful in controlling multiple robots. Nature's several examples of collective behavior have motivated our approach to controlling a multiple robot system using a group behavior. Our mechanisms, used to invoke the group behavior, allow the systemdoi:10.1177/105971239300200204 fatcat:ujfjta2sprda7hblgfmjfjxu3i