**5. Introduction of Environment Selection Hormones with Sleep and Speed Regulating Hormone Systems**

With the viability of a larger hormone system confirmed, the next step taken was to combine the hormone combination system presented in the last section with yet more hormone arbitration. This was an important step because, while it has been shown that hormone systems can interact to produce satisfactory results, the current combination of hormone systems experience minimal detrimental interactions. In terms of behavioural arbitration, the speed and sleep hormone systems do not interfere with one another.

This section presents the amalgamation of the speed hormone, sleep hormone and a hormone system capable of monitoring the emergent success of the swarm under different conditions, implementing the designs shown in [7]. The monitoring of success and ensuing environmental preference, was driven by the speed at which items could be collected from the environments. Therefore, it is essential to investigate if the preference system will still be capable of categorising robots within a heterogeneous swarm effectively with an adaptive speed mechanism in place.

As such, the environment for these tests required a diverse terrain and multiple directional options alongside heterogeneity amongst the swarm.
