Some of these robots have taken inspiration from insect swarms. Their self-organization has served as an inspiration in computational intelligence (Bonabeau et al., 1999; Prokopenko, 2014a). More recently, these studies have been extended toward cognitive science (Trianni and Tuci, 2009; Gershenson, 2010). This kind of research is also related to collective intelligence (Hutchins, 1995) and the evolution of language (Steels, 2003).