TYOC, 05, 52: Lily Swarm Size Awareness

The Year of CoCoRo 05, 52: Lily robots build swarms that change in size over time. By using a bioinspired method of signal exchange these swarms can make reliable estimates of their own swarm size. Our Lily robots emit a pulsed signal that is relayed by other Lily robots in the swarm, just like slime mold amoebas or fireflies relay their signals in nature. Based on this simple signal exchange every member can estimate the number of other swarm members around.