Swarm robotics: a review from the swarm engineering perspective <s> ied agents can be designed such that a desired collective behavior emerges from the local interactions among agents and between the agents and the environment." (Şahin 2005). <s> Balancing Reactivity and Social Deliberation in Multi-Agent Systems - A Short Guide to the Contributions.- Reactivity and Deliberation: A Survey on Multi-Robot Systems.- II Architectures and Frameworks.- Bridging Deliberation and Reactivity in Cooperative Multi-Robot Systems through Map Focus.- Balancing between Reactivity and Deliberation in the ICAGENT Framework.- On Augmenting Reactivity with Deliberation in a Controlled Manner.- HAC: A Unified View of Reactive and Deliberative Activity.- III Enhanced Reactivity.- Team Cooperation Using Dual Dynamics.- A Hierarchy of Reactive Behaviors Handles Complexity.- Reinforcement Learning for Cooperating and Communicating Reactive Agents in Electrical Power Grids.- Being Reactive by Exchanging Roles: An Empirical Study.- IV Controlled Social Deliberation.- Situation Based Strategic Positioning for Coordinating a Team of Homogeneous Agents.- Deliberation Levels in Theoretic-Decision Approaches for Task Allocation in Resource-Bounded Agents.- Cognition, Sociability, and Constraints. <s> BIB001 </s> Swarm robotics: a review from the swarm engineering perspective <s> ied agents can be designed such that a desired collective behavior emerges from the local interactions among agents and between the agents and the environment." (Şahin 2005). <s> The term swarm has been applied to many systems (in biology, engineering, computation, etc.) as they have some of the qualities that the English-language term swarm denotes. With the growth of the various area of swarm research, the swarm terminology has become somewhat confusing. In this paper, we reflect on this terminology to help clarify its association with various robotic concepts. <s> BIB002
The main characteristics of a swarm robotics system are the following: -robots are autonomous; -robots are situated in the environment and can act to modify it; -robots' sensing and communication capabilities are local; -robots do not have access to centralized control and/or to global knowledge; -robots cooperate to tackle a given task. In this review, we use these characteristics to discriminate the works that belong to swarm robotics from those that belong to other multi-robot approaches BIB001 . Slightly different characterizations of swarm robotics have been proposed and adopted byŞahin (2005), BIB002 and Dorigo andŞahin (2004) . The main inspiration for swarm robotics comes from the observation of social animals. Ants, bees, birds, and fish are some examples of how simple individuals can become successful when they gather in groups. The interest towards social animals stems from the fact that they exhibit a sort of swarm intelligence   . In particular, the behavior of groups of social animals appear to be robust, scalable, and flexible. Robustness is the ability to cope with the loss of individuals. In social animals, robustness is promoted by redundancy and the absence of a leader. Scalability is the ability to perform well with different group sizes. The introduction or removal of individuals does not result in a drastic change in the performance of a swarm. In social animals, scalability is promoted by local sensing and communication. Flexibility is the ability to cope with a broad spectrum of different environments and tasks. In social animals, flexibility is promoted by redundancy, simplicity of the behaviors and mechanisms such as task allocation. A detailed analysis of robustness, scalability, and flexibility in social animals has been carried out by  . By taking inspiration from social animals, swarm robotics aims at developing robotics systems that exhibit swarm intelligence features similar to those that characterize social animals. In particular, swarm robotics systems are meant to be robust, scalable, and flexible.