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Abstract
This paper describes the interest of "virtual" pheromones to build heterarchical systems. The first part describes the bases of the stigmergy concept using pheromones. In the second part, these concepts are applied to build our Heterarchical Product-Based (HPB) system. The third part focuses on a first application of the HPB philosophy on a flexible assembly cell. The fourth part is dedicated to a future implementation on a larger flexible assembly cell.
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