I. Introduction
Termites, bees, and ants are prominent examples of many small units working together to accomplish large undertakings (e.g., a termite mound). Recently, there has been a trend towards replicating such swarm-like behavior in robotic systems to solve complex collective tasks such as exploration [20], construction [13], and transportation [4] [8]. For example, robot swarms have been used to create large structures that are impossible for a single agent to accomplish [1], [6], [18].