Majority Rule with Differential Latency: An Absorbing Markov Chain to Model Consensus

  • Gabriele Valentini
  • Mauro Birattari
  • Marco Dorigo
Part of the Springer Proceedings in Complexity book series (SPCOM)


We study collective decision-making in a swarm of robots. We consider the majority rule with differential latency: robots randomly form teams, make a decision following the majority rule, and then turn in a latent state whose duration depends on the decision made. While latent, robots do not participate in the decision mechanism, thus, the differential latency provides a positive feedback that favors the decision with the shortest latency. We analyze the dynamics using a discrete, time-homogeneous, absorbing Markov chain.



The research leading to the results presented in this paper has received funding from the European Research Council under the European Union’s Seventh Framework Programme (FP7/2007–2013)/ERC grant agreement no. 246939. Mauro Birattari and Marco Dorigo acknowledge support from the F.R.S.-FNRS of Belgium’s Wallonia-Brussels Federation.


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Copyright information

© Springer International Publishing Switzerland 2013

Authors and Affiliations

  • Gabriele Valentini
    • 1
  • Mauro Birattari
    • 1
  • Marco Dorigo
    • 1
  1. 1.IRIDIA, CoDEUniversité Libre de BruxellesBrusselsBelgium

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