destination Page 2 Table 1: Intra foraging zone Routing Table Ri D1(i) D2(i) . . . Dd(i) N1(i) (p11, q11) (p12, q12) · · · (p1d, q1d) ... ... ... . . . ... Nn(i) (pn1, qn1) (pn2, qn2) · · · (pnd, qnd) [...] selected node MSIA 6.8 4.8 2.8 1.8 R ou tin g O ve rh ea d (% ) 0 0.5 1 1.5 2 0 0.5 1 1.5 2 DGA OSPF AntNet BeeHive Figure 3: Routing overhead, saturated loads MSIA 6.8 4.8 2.8 1.8 S ub op tim al R ou tin [...] 51 398 - - - DGA(Our) 99.92 0.08 35 137 735 8 27 AntNet(Global) 99.7 0.3 9 30 65 2.8 5.2 BeeHive 99.99 0 2.7 23 42 0.37 2.7 OSPF 99.99 0 0 20 36 0.1 1.02 aThese results were published in [8] bThese results …