待看论文（2021.07.14）

群体智能领域的关键概念是涌现、复杂性、自组织和搜索。对这些主题的详细讨论超出了本文的范围，读者可以参考[6]和[10，34，35，59]中汇编的优秀文章。
[6] Arshinov, V., Fuchs, C., 2003. Causality, emergence, self-organisation.NIA-Priroda Moscow.
[10] Bonabeau, E., Marco, D.d.R.D.F., Dorigo, M., Théraulaz, G., Theraulaz,G., et al., 1999. Swarm intelligence: from natural to artificial systems. 1,Oxford university press.
[34] Heyligen, F., 2002. The science of self-organisation and adaptivity, in:The Encyclopedia of Life Support Systems. UNESCO Publishing-Eolss Publishers.
[35] Heylighen, F., Gershenson, C., 2003. The meaning of self-organization in computing. IEEE Intelligent Systems 18.
[59] Mitchell, M., 2009. Complexity: A guided tour. Oxford University Press.

SR不同于其他SI研究，重点是个体的物理体现[74]。
[74] S¸ ahin, E., Girgin, S., Bayindir, L., Turgut, A.E., 2008. Swarm robotics,in: Swarm Intelligence: Introduction and Applications. Springer-Verlag Berlin Heidelberg, pp. 87–100.

关于邻域结构和粒子间通信的进一步研究，请参考[28，17，53，86]。
[28] Ghosh, S., Das, S., Kundu, D., Suresh, K., Abraham, A., 2012. Inter-particle communication and search-dynamics of lbest particle swarm optimizers: An analysis. Information Sciences 182, 156–168. doi:10.1016/j.ins.2010.10.015. nature-Inspired Collective Intelligence in Theory and Practice.
[17] Chen, Y .p., Jiang, P ., 2010. Analysis of particle interaction in particle swarm optimization. Theoretical Computer Science 411, 2101–2115.doi:DOI: 10.1016/j.tcs.2010.03.003. swarm Intelligence Theory: A Snapshot of the State of the Art.
[53] Lynn, N., Ali, M.Z., Suganthan, P .N., 2018. Population topologies for particle swarm optimization and differential evolution. Swarm and Evolutionary Computation 39, 24 – 35. doi:https://doi.org/10.1016/j.swevo.2017.11.002.
[86] Xia, X., Gui, L., Zhan, Z.H., 2018. A multi-swarm particle swarm optimization algorithm based on dynamical topology and purposeful detecting. Applied Soft Computing 67, 126 – 140. doi:https://doi.org/10.1016/j.asoc.2018.02.042.

自我协调它们的飞行以实现蜂群的目标[20]
[20] Chung, S.J., Paranjape, A.A., Dames, P., Shen, S., Kumar, V., 2018. A survey on aerial swarm robotics. IEEE Transactions on Robotics 34, 837–855. doi:10.1109/tro.2018.2857475.

Swarmanoid实现的，Swarmanoid是一个由轮式、攀爬和飞行机器人组成的异构群体，它们相互协作(34)。
34. M. Dorigo, D. Floreano, L. M. Gambardella, F. Mondada, S. Nolfi, T. Baaboura, M. Birattari, M. Bonani, M. Brambilla, A. Brutschy, D. Burnier, A. Campo, A. L. Christensen, A. Decugniere, G. di Caro, F. Ducatelle, E. Ferrante, A. Forster, J. M. Gonzales, J. Guzzi, V. Longchamp, S. Magnenat, N. Mathews, M. Montes de Oca, R. O’Grady, C. Pinciroli, G. Pini, P. Retornaz, J. Roberts, V. Sperati, T. Stirling, A. Stranieri, T. Stutzle, V. Trianni, E. Tuci, A. E. Turgut, F. Vaussard, Swarmanoid: A novel concept for the study of heterogeneous robotic swarms. IEEE Robot. Autom. Mag. 20, 60–71 (2013).

最近的一个项目CoCoRo构建了一个异质群体，结合了多种移动和通信模式:水面机器人、水下机器人和浮动基站，使用水上射频通信和水下调制蓝光和声波通信（38）。
35. T. Schmickl, R. Thenius, C. Moslinger, J. Timmis, A. Tyrrell, M. Read, J. Hilder, J. Halloy, A. Campo, C. Stefanini, L. Manfredi, S. Orofino, S. Kernbach, T. Dipper, D. Sutantyo, CoCoRo—The self-aware underwater swarm, in 2011 Fifth IEEE Conference on Self-Adaptive and Self-Organizing Systems Workshops (IEEE, 2011), pp. 120–126.

研究鱼群中不同队形的动态规避机动或能量节省，或者狼群或海豚表现出的集体捕食者行为(1，5，20)。

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3. D. Strömbom, Collective motion from local attraction. J. Theor. Biol. 283, 145–151 (2011).