**2. Foraging problem**

This section models an ant foraging problem as a multi-agent simulation following previous studies [16]. In this model, an ant is modelled as an agent. An agent has the following three functions:

<sup>1</sup> Midden work is carrying objects to and sorting the refuse pile of the colony.

*Autonomous Role Assignment Using Contact Stimuli in Swarm Robotic Systems DOI: http://dx.doi.org/10.5772/intechopen.107852*
