Editing Swarm behaviour (section)

====Ant colony optimization====
{{Main|Ant colony optimization algorithm}}
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|image1=[https://www.youtube.com/watch?v=oBhv4pKksgU Swarmanoid robots find shortest path over double bridge]<ref>{{cite web|url=http://www.swarmanoid.org/swarmanoid_simulation.php#|archive-url=https://web.archive.org/web/20070705115810/http://www.swarmanoid.org/swarmanoid_simulation.php|url-status=dead|archive-date=5 July 2007|title=Swarmanoid project}}</ref>}}

Ant colony optimization is a widely used algorithm which was inspired by the behaviours of ants, and has been effective solving [[discrete optimization]] problems related to swarming.<ref>[http://iridia.ulb.ac.be/~mdorigo/ACO/ACO.html Ant colony optimization] Retrieved 15 December 2010.</ref> The algorithm was initially proposed by [[Marco Dorigo]] in 1992,<ref>A. Colorni, M. Dorigo et V. Maniezzo, ''Distributed Optimization by Ant Colonies'', actes de la première conférence européenne sur la vie artificielle, Paris, Elsevier Publishing, 134–142, 1991.</ref><ref name="M. Dorigo, Optimization, Learning and Natural Algorithms">M. Dorigo, ''Optimization, Learning and Natural Algorithms'', PhD thesis, Politecnico di Milano, Italie, 1992.</ref> and has since been diversified to solve a wider class of numerical problems. Species that have multiple queens may have a queen leaving the nest along with some workers to found a colony at a new site, a process akin to [[swarming (honey bee)|swarming in honeybees]].<ref name=HolldoblerWilsonAnts2>Hölldobler & Wilson (1990), pp. 143–179</ref><ref name="Dorigo99">{{cite book |first1=M.|last1=DORIGO|first2=G.|last2=DI CARO|first3= L. M.|last3= GAMBERELLA|year=1999|title= Ant Algorithms for Discrete Optimization, Artificial Life|publisher= MIT Press}}</ref>
*Ants are behaviourally unsophisticated; collectively they perform complex tasks. Ants have highly developed sophisticated sign-based communication.
*Ants communicate using pheromones; trails are laid that can be followed by other ants.
*Routing problem ants drop different pheromones used to compute the "shortest" path from source to destination(s).
* {{cite journal |last1= Rauch |first1= EM |last2= Millonas |first2= MM |last3= Chialvo |first3= DR |year= 1995 |title= Pattern formation and functionality in swarm models |journal= Physics Letters A |volume= 207 |issue= 3–4 |page= 185 |arxiv=adap-org/9507003 |doi=10.1016/0375-9601(95)00624-c |bibcode=1995PhLA..207..185R|s2cid= 120567147 }}