Figure 1

We simulate a swarm of 25 robots (blue circles) that move between food and nest sites (green and yellow circles). Robots filter out odometry noise and improve navigation efficiency implementing a social odometry algorithm based on local exchange of messages (the grey circles show the communication range). Through social odometry, the robots form a dynamic chain around the shortest patch connecting food and nest. The robots’ outline is the colour of their last visited site and the white line indicates the robot’s motion orientation. The simulator is easily extendable, open source, and available at https://github.com/ludericv/information-market.