A self-organizing system can change its structure as a function of its experience with the environment, and may accomplish complex tasks with simple individual behavior. Changes in the individual characteristics can influence the overall behavior of the system. On the other hand, the environment may cause the system to generate a different task, without any effect on individual behavior. Therefore, they can be manufactured inexpensively in large numbers, which would be the case. This homogeneous population of robots is a modular system.
Any robot can replace any other robot.
In case of failure, the absence of a hierarchical system would prevent total system failure. Furthermore, new agents can be added to the team whenever necessary. Army-ant robots are designed for a broad range of tasks, not for a specific task as is the case in current multirobot systems. They can be adapted to various tasks with minimal structural changes. Individually, robots have limited capabilities and limited knowledge of the environment.