Overlay network topology creation: Execution of the T-Man protocol to build a (flattened) torus starting from a random initial overlay network of 2500 nodes.
Self organization: 1024 "fireflies" syncronizing their flashes using the adaptive Ermentrout model.
Pattern formation: 5000 mobile units self organizing into a ring starting from random positions within a unit square.
Pattern formation: 5000 mobile units self organizing into a cross starting from random positions within a unit square.
Self healing: 80% of the 5000 nodes are removed and the remaining 1000 nodes self heal to recosntruct the ring.