A former colleague of mine Meghan Chandarana was doing some really awesome work which incorporated a similar "bread-crumb" algorithm for swarms dispatching grou

A former colleague of mine Meghan Chandarana was doing some really awesome work which incorporated a similar "bread-crumb" algorithm for swarms dispatching groups for tasks and navigation back to the swarm. It wasn't the primary focus but was really cool to see work. If you want to see a application of it for swarms her paper is here: https://www.ri.cmu.edu/wp-content/uploads/2018/08/SMC2018.pdf https://www.ri.cmu.edu/wp-content/uploads/2018/08/SMC2018.pd...