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# Robots do not exploit centralized swarm control or global knowledge.
# Robots cooperate with each other to accomplish the given task.<ref>{{Cite journal |last1=Brambilla |first1=Manuele |last2=Ferrante |first2=Eliseo |last3=Birattari |first3=Mauro |last4=Dorigo |first4=Marco |date=17 January 2013 |title=Swarm robotics: a review from the swarm engineering perspective |url=http://link.springer.com/10.1007/s11721-012-0075-2 |journal=Swarm Intelligence |language=en |volume=7 |issue=1 |pages=1–41 |doi=10.1007/s11721-012-0075-2 |hdl=2013/ULB-DIPOT:oai:dipot.ulb.ac.be:2013/153305 |issn=1935-3812}}</ref>
</blockquote>Miniaturization is also key factor in swarm robotics, as the effect of thousands of small robots can maximize the effect of the swarm-intelligent approach to achieve meaningful behavior at swarm-level through a greater number of interactions on an individual level.<ref name=":1">{{Cite journal |last1=Dorigo |first1=Marco |last2=Theraulaz |first2=Guy |last3=Trianni |first3=Vito |date=18 June 2021 |title=Swarm Robotics: Past, Present, and Future [Point of View] |url=https://ieeexplore.ieee.org/document/9460560 |journal=Proceedings of the IEEE |volume=109 |issue=7 |pages=1152–1165 |doi=10.1109/JPROC.2021.3072740 |issn=0018-9219|hdl=2013/ULB-DIPOT:oai:dipot.ulb.ac.be:2013/326716 |hdl-access=free }}</ref>
Compared with individual robots, a swarm can commonly decompose its given missions to their subtasks;<ref>{{Cite journal |last1=Hu |first1=Junyan |last2=Bhowmick |first2=Parijat |last3=Lanzon |first3=Alexander |date=2020-11-10 |title=Two-layer distributed formation-containment control strategy for linear swarm systems: Algorithm and experiments |journal=International Journal of Robust and Nonlinear Control |language=en |volume=30 |issue=16 |pages=6433–6453 |doi=10.1002/rnc.5105 |issn=1049-8923|doi-access=free }}</ref> a swarm is more robust to partial failure and is more flexible with regard to different missions.<ref>{{Cite book |title=Autonomous mobile robots and multi-robot systems: motion-planning, communication and swarming |date=2020 |publisher=John Wiley & Sons, Inc |isbn=978-1-119-21286-7 |editor-last=Kagan |editor-first=Eugene |edition=1st |___location=Hoboken, NJ}}</ref>
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