Dan Yamins
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CS266: Bio-inspired Multi-agent Systems (Harvard School of Engineering and Applied Science) surveyed the state of the art in bio-inspired approaches to designing robust collective behavior in different domains. A unifying theme amongst these domains is the desire to construct robust systems consisting of many individually unreliable nodes, that produce complex but predictable global behavior. We focused on algorithms, methods for analysis, and programming paradigms for engineering self-organizing systems as well as models of collective intelligence in nature.   The current course website is http://www.eecs.harvard.edu/ssr/teaching/cs266/. 

In addition to student presentations and a final project, we  offered a section on the theory of local-to-global algorithms for programming biologically inspired, spatially coherent multi-agent systems. 
Theory Weeks Syllabus
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Theory Lecture 1: Local-to-Global in Spatial Multi-Agent Systems
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Theory Lecture 2: Local Checkability in Simple Systems
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Theory Lecture 3: Higher-Dimensional Systems
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We also offered a coding exercise to help students learn about programming such systems in practice:
Coding Exercise: Directions
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Coding Exercise: Code Distro
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