Fig. 4
From: Multi-Agent Foraging: state-of-the-art and research challenges
A graphical representation of Balch taxonomy (Balch 2002), with three axes: Task Environment, Robotic Platform and Performance. Where: coverage (cov), convergence (conv), movement from initial to final locations (mov_to) or maintaining a configuration while moving (mov_while), limited external resources (lim_ext), minimum energy task (min_ener), competition between team members for resources (comp_int) and team competes with external agencies (comp_ext)