Figures & data
Figure 1. Short-term memory buffer and its influence on the reference vector.
Figure 2. Influence that parameters and
have on heuristic component.
Figure 3. Area covered by a scout as a function of design parameter .
Figure 4. Area covered by a scout for different values of : (a)
,
; (b)
,
; (c)
,
; (d)
,
; (e)
,
; (f)
,
; (g)
,
; and (h)
,
.
Figure 5. Random walk in the nest with maximum communication overlapping ( – communication radius;
– communication area;
– overlapping area).
Table 1. Relevant system parameters for the information propagation simulations, scaled relatively to robot size (the diameter of the physical robot 
)
Figure 6. Expected number of visited labourers by one scout (,
).
Table 2. Simulated and values of cover time speed up in the nest
Figure 7. Number of steps required for the first rendezvous of two scouts for different nest sizes.
Figure 8. Number of agents committed to optimal target for different .
