  Localized communication in swarms has been shown to increase swarm
effectiveness in some situations by allowing for additional opportunities for
cooperation. However, communication and utilization of potentially outdated
information is also a concern. We present an explicit non-directional
goal-based communication model and message accept/reject scheme, and test our
model in a set of object gathering experiments with a swarm of robots. The
results of the experiments indicate that even low levels of communication
regarding the swarm's goal outperform high levels of random information
communication.
