Abstract
Practical collective robotic systems will be faced with decisions that have to be made in order for them to function effectively. In this paper, we present a biologically inspired algorithm that allows system level decisions to be made. Such decisions ensure consensus amongst the robots that make up a collective system. Our algorithm is based on the collective house hunting strategy of a particular species of ant. A series of experiments were conducted in simulation in order to study our algorithm's performance. A particular variable, the quorum, was found to strongly impact decision making ability. It was found that setting the quorum as high as the robots that composed a system could reliably measure produced the best results
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