8/25/03
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Characteristics of
Self-Organized System
¥Creation of spatiotemporal structures in initially homogeneous medium
¥Multistability
¥Bifurcations when parameters are varied
Ñ Bonabeau, Dorigo & Theraulaz, Swarm Intelligence, pp. 12-14
Structures include nest architecture, foraging trails, social organizations
Multistability occurs because there are typically several stable states,
   and which is chosen depends on amplification of random deviations
Abrupt phase changes depend on parameters.
   E.g. synchronized vs unsynchronized activity patterns of ants in colony,
   depends on density as well as activity threshold (ÒexcitabilityÓ)