The survey reviewed control strategies for large groups of simple robots, grouped by the coordination problem they solve: aggregation, dispersion, pattern formation, foraging, flocking and distributed task allocation.
Its central argument holds up well. Swarm approaches win where individual robots are cheap and failure-tolerant, and lose where a task requires precise, accountable execution by a single machine.
Modern fleet management for warehouse AMRs is the commercial descendant of this work: decentralised traffic control with centralised task assignment.
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