![](bg8.png)
sembling rules, discussed in sec. 2:
I’m Ag_i;
if (Ag_j=take the same Ob as I){
Ob -> to Ag with smaller Dist. to it;}
In fig. 15 we show the comparison between these
”bottom-up” and ”top-down” rules. For small num-
Figure 15: Comparison between the ”bottom-up” and
”top-down” rules. Agents start from random initial
conditions,100×100 square,R
vis
= 400, shown is the av-
erage result of 100000 simulation’s cycles
ber of agents, the ”top-down” rules are more efficient.
However, if this number grows, the ”top-down” rules
becomes less efficient. At some turn-over-threshold,
the group changes the collective strategy and the
”old” rules can not guarantee any more the achieve-
ment of desired emergence. Therefore this effect, and
especially a drift of the turn-over-threshold, has to be
taken into account at the top-down design of local
rules.
5 CONCLUSION
In this paper we have discussed several aspects of de-
sired emergent behavior in technical micro-systems.
As shown, technically useful emergence differs from
natural emergence in several points, the most impor-
tant is an appearance of irregularities. The treatment
of irregularities concerns coalition formation, con-
structions of spatial and functional groups, planning
and so on. Especially serious problem arises at scal-
ing emergent behavior. Generally, a treatment of ir-
regularities represents a point of further research.
Acknowledgment. The presented work is made
in the framework of SFB 467 ”Transformable Busi-
ness Structures for Multiple-Variant Series Produc-
tion” (supported by the German Research Foun-
dation) as well as EU-Project ”Intelligent Small
World Autonomous Robots for Micro-manipulation”
(I-Swarm).
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