These delineations are not strict however. Subgroups of heterogeneous robots could form that provide a given service. These subgroups would compete with each other, thus providing an example where robots of different types compete rather than cooperate with each other. Heterogeneous robots could also compete if the same task can be accomplished in different ways. Conversely, two robots of the same type may cooperate by agreeing to segment the market.
Homogeneous robots can also cooperate if accomplishing a specific task requires more than one robot.
For example, several robots with grasping capability may need to cooperate in order to move a heavy object. The flexibility of the market-model allows the robots to cooperate and compete as necessary to accomplish a task, regardless of the homogeneity or heterogeneity of the team. E. Self Organization Conspicuously absent from the free market system is a rigid, top-down hierarchy. Instead, the robots organize themselves in a way that is mutually beneficial. Since the aggregate profit amassed by the individuals is directly tied to the success of the task, this self-organization yields the best results.