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