Fig. 2
From: Multi-Agent Foraging: state-of-the-art and research challenges
A graphical representation of Cao et al. taxonomy (Cao et al. 1997), with five axes: Group Architecture, Resource Conflicts, Origins of Cooperation, Learning, Geometric Problems. Where: intentions (int), beliefs (bel), actions (act), capabilities (cap), states (sta), Path planning (path_p), moving to formation (mov_f) and pattern generation (pattern_g)