1) There is no heiracy in an ant colony, they are not controlled by the queen.

The queen is just simply another kind of role in the colony.

2) There are various roles in the ant colony: Foragers, Nest maintainence,
patrollers, middin work. So how do they know what role are they
supposed to do? Since there is no central government. Proposed theory:
response threshold system.

3) There are genetic differences between the ants, some are bigger have
different build from other ants. Theres the queen, worker ant, soldier ant.
Soldier ant will have a higher threshold for foraging than the worker ant.

4) There is a layer of grease hydrocarbon that coats each ant depending on
the certain task that they do. Using their antenna, they can smell what
hydrocarbon is on the other ant and determin its role. So as a stream of
ants pass by a particular individual ant, it will be able to determine how
many ants are of a certain role and then decide its task. Basic rules it
follows could be Ill be a forager if I bump into 1 forager every 3 seconds

5) The rules do not change, but the thing that changes is the colony size. So
the behavior of a big colony will vary very different from the behavior of a
small colony.

The spatial fidelity (SF) of ant n to region r of chamber 1 (figure 1)
was calculated as

where
On = recnr/recn;
recnr = total number of scans in which ant n was recorded in region
r;
recn = total number of scans in which ant n was recorded in
chamber 1;
p = number of ants in region r in scan i/total number of ants in
chamber 1 in scan i; and
s = total number of spatial scans.