  We present a biologically inspired design for swarm foraging based on ant's
pheromone deployment, where the swarm is assumed to have very restricted
capabilities. The robots do not require global or relative position
measurements and the swarm is fully decentralized and needs no infrastructure
in place. Additionally, the system only requires one-hop communication over the
robot network, we do not make any assumptions about the connectivity of the
communication graph and the transmission of information and computation is
scalable versus the number of agents. This is done by letting the agents in the
swarm act as foragers or as guiding agents (beacons). We present experimental
results computed for a swarm of Elisa-3 robots on a simulator, and show how the
swarm self-organizes to solve a foraging problem over an unknown environment,
converging to trajectories around the shortest path. At last, we discuss the
limitations of such a system and propose how the foraging efficiency can be
increased.
