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@InProceedings{aamas09, 
  author = 	 {Asaf Shiloni and Noa Agmon and Gal A. Kaminka}, 
  title = 	 {Of Robot Ants and Elephants}, 
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  booktitle = AAMAS-09, 
  OPTpages = 	 {}, 
  year = 	 {2009}, 
  abstract = { Investigations of multi-robot systems often make implicit 
   assumptions concerning the computational capabilities of the robots. 
   Despite the lack of explicit attention to the computational capabilities of 
   robots, two \emph{computational classes} of robots emerge as focal points
   of recent research: Robot \emph{Ants} and robot \emph{Elephants}. Ants have 
   poor memory and communication capabilities, but are able to communicate using pheromones, in effect 
   turning their work area into a shared memory. By comparison, elephants are computationally stronger, 
   have large memory, and are equipped with strong sensing and communication capabilities. 
    Unfortunately, not much is known about the relation between 
the capabilities of these models in terms of the tasks they can address. 
In this paper, we present formal models of both ants and elephants, and 
investigate if one dominates the other.  We present two algorithms: 
\emph{AntEater}, which allows elephant robots to execute ant algorithms; and 
\emph{ElephantGun}, which converts elephant algorithms---specified as Turing 
machines---into ant algorithms.  By exploring the computational capabilities 
of these algorithms, we reach interesting conclusions regarding the computational 
power of both models. }, 
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}