The goal of this project was the design of a set of real world agents that emulate the collective foraging behaviour of the famous Cataglyphis Fortis ant population. In order to fulfil the given task we had to change the morphology of an Asuro robot that is available in the international trade. More precisely, we extended the default configuration by two additional infrared (IR) distance sensors wich are based on triangulation and two pyro sensors for the detection of thermal sources. The control system consists of multiple interleaved modules. Most of these modules are implemented in a Braitenberg manner and therefore profit from
continuous light, distance, and thermal sensory data.