For tasks involving foraging, a Lego gripper was also attached to the lower frontal part of the robot. With two motors attached to two rear wheels and a caster wheel at the front, the robot used a differential drive to move around in its environment. The operating speed of the motors was set to 70% of the maximum speed. A Raspberry Pi 3 mounted onboard the robot and interfaced with the sensors and the motors constituted the main hardware controller. As depicted in Fig. \[fig:exparena\], 8 to 12 lightweight yellow coloured hexagonal-puck shaped objects were scattered randomly across a 2m x 2m arena which constituted the environment. For the yellow colour, the CS returned a value 3. The only obstacle in the arena are the walls surrounding the arena. A Wi-Fi router placed near the arena facilitated the interconnection between the robots and hence the sharing of antibodies. Experiments were performed in both static and dynamic networks. Since Wi-Fi range covers the whole arena, dynamism was implemented by randomly creating and breaking the connection between the robots. The $Ctr$ constituted a feed-forward ANN with four input nodes, five hidden nodes and two output nodes and used the *hyperbolic-tangent* (tanh) as 