Table 1: Taxonomy axes and explanation from Dudek et al. [8].

Axis Description

Collective size Number of robots in the collective.
Communication range Maximum communication range.
Communication topology Of the robots in the communication range, those which can be communicated with.
Communication Bandwidth How much information the robots can send to each other.
Collective reconfigurability The rate at which the organisation of the collective can be modified.
Process ability The computational model used by the robots.
Collective composition Are the robots homogeneous or heterogeneous.