In this thesis, the agents are treated as a self-organizing system of moving points. This characteristic makes the Army-ant swarm a modular , adaptive and dynamic system. Several algorithms for spatial self-organization of the robots are given. Algorithms are based on feasible assumptions. It is also shown possible to divide such a population into different groups around goals by communicating minimal data.
Data transfer has a broadcast characteristic.
Several problems which may be encountered and the solution to some of these problems are outlined. Sensors and communication systems which may be used in the Army-ant scenario are also briefly discussed. I wish to express my gratitude to a number of people who became involved with this thesis, one way or another. My thesis advisor, Dr. John S. Bay, a true gentleman whose suggestions led me throughout this research, has always been willing to answer my questions. Dr. William T. Baumann and Dr. Hugh F. VanLandingham, who were also my instructors in the past two years, have both been kind enough to serve as members of my advisory committee.