Towards Dynamic Adaptation of the Differential Majority-Rule Solution of the Double Bridge Problem

In the double-bridge problem, a population of ants seeks to discover the shortest path from to nest to two alternative places with food. For swarmonoids, a collective of small robots which coorperate to achieve a common goal, a solution using the so-called majority rule for the double-bridge problem was recently proposed by Marco Dorigo and co-workers. We explain the setting of the problem and discuss initial steps to generalize the majority-rule solution to a configuration with dynamically changing path lengths. We present a number of schemes and their discrete-time simulation.  

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