Editing Swarm behaviour (section)

===Stigmergy===
{{Main|Stigmergy}}

A further key concept in the field of swarm intelligence is [[stigmergy]].<ref name="Parunak2003">Parunak, H. v D. (2003). [http://citeseerx.ist.psu.edu/viewdoc/download?doi=10.1.1.116.1990&rep=rep1&type=pdf "Making swarming happen"] In: Proceedings of Conference on Swarming and Network Enabled Command, Control, Communications, Computers, Intelligence, Surveillance and Reconnaissance (C4ISR), McLean, Virginia, USA, 3 January 2003.</ref><ref name=Marsh2007>{{cite journal |author1=Marsh L. |author2=Onof C. |year= 2008 |title= Stigmergic epistemology, stigmergic cognition |url= http://mpra.ub.uni-muenchen.de/10004/1/3z2fx4r7prqwob3vfdq.pdf |journal= Cognitive Systems Research |volume= 9 |issue= 1 |pages= 136–149 |doi= 10.1016/j.cogsys.2007.06.009|s2cid=23140721 }}</ref> Stigmergy is a mechanism of indirect coordination between agents or actions. The principle is that the trace left in the environment by an action stimulates the performance of a next action, by the same or a different agent. In that way, subsequent actions tend to reinforce and build on each other, leading to the spontaneous emergence of coherent, apparently systematic activity. Stigmergy is a form of self-organization. It produces complex, seemingly intelligent structures, without need for any planning, control, or even direct communication between the agents. As such it supports efficient collaboration between extremely simple agents, who lack any memory, intelligence or even awareness of each other.<ref name=Marsh2007/>