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Not cutting edge or new research, but yet to be brought forth from what I've seen. This article tells of robots built the size of roaches, not resembling them however, coated with a coattail of chemicals resembling that of real roaches. These robots where then accepted into the swarms and even more surprising were able to influence swarm decisions making. When scurrying for cover the robots ran to well light shelter, counter of nature roach behavior, and was able to get the swarm to follow them. More needs to be researched but this is the beginning of understanding the swarm!