Task partitioning in insects and robots. (a) Task partitioned retrieval of leaf fragments, as found in most Atta leafcutter ants that harvest leaves from trees. Dropper ants cut leaves which then accumulate in a cache, after which the leaves are retrieved by collectors and brought back to the nest, where they serve as a substrate for a fungus which is farmed as food. Ants also occasionally use a generalist strategy whereby both tasks are performed by the same individuals. (b) Analogous robotics setup, whereby items have to be transported across a slope using the coordinated action of droppers, collectors and possibly generalists...
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