Insectes Sociaux

, Volume 66, Issue 1, pp 73–80 | Cite as

An improved approach for the collective construction of architectures inspired by wasp nests

  • M. RahmaniEmail author
  • A. Lehireche
  • R. M. Hamou
Research Article


We present in this article, a new decentralized algorithmic approach for the automatic construction of three-dimensional structure based on simple behavioral rules. This model is an improvement of the model introduced by Eric Bonabeau and Guy Theraulaz to simulate the process of building wasps’ nest. To speed up the construction process, and to prevent the builder swarm from moving far away from regions with stimuli to build, we constructed a dynamic envelope that limits agents’ movements to remain close to the built structure. The envelope adjusts both as the structure develops and as agents assess whether individual sites should be built in, or not. The use of such an envelope results in faster construction and gives an explicit method for terminating a simulation when no buildable sites remain, thus indicating that a structure has converged to its final form.


Collective intelligence Insect societies Qualitative stigmergy Self-assembly 



We are very grateful to our Associate Editor, Miriam Richards, and the two anonymous reviewers for their constructive feedback and guidance. Their critical review has greatly improved the final version of this article.

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Copyright information

© International Union for the Study of Social Insects (IUSSI) 2018

Authors and Affiliations

  1. 1.GeCoDe Laboratory, Department of Computer ScienceTahar Moulay UniversitySaidaAlgeria
  2. 2.EEDIS Laboratory, Department of Computer ScienceDjillali Liabes UniversitySidi Bel AbbesAlgeria

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