Ants: Brood Sorting

System Behavior: An and hill houses larvae, eggs, cocoons, and food. The ant colony keeps all of them separate.
Responsibilities:
1. Wander randomly.
2. Sense nearby objects and maintain a short memory.
3. If object found and not carrying object then decide stochastically whether to pick it up. The probability of a pickup decreases if the ant has recently encountered similar objects.
4. If carrying something then decide stochastically whether to drop it. The probability of dropping increases if the ant has recently encountered similar object.
Integration: As concentration grows, the likelihood that they will get bigger increases. The put-down probability must be bigger than the pick-up, otherwise clusters will disperse faster than they form. The memory cannot be too long.