Simulations without leader using different communication topologies (cfr.Tables 6a, 6b, and 6c in the paper)
| Group size | All to All | Star | Ring |
| Small | 57/95 | 57/99 | 57/107 |
| Large | 3/45 | 3/50 | 3/91 |
Simulations carried out using All to All communication topology in eterogeneous groups (cfr. Tables 8,9,10a, and 10b in the paper)
| Group size | Leader | No Leader with an A+ | Leader(A+) | Leader with an A+ |
| Small | 654/679 | 43/79 | 467/489 | 305/331 |
| Large | 81/119 | 3/45 | 40/77 | 40/77 |
Simulations carried out using All to All topology with geographical constrain (i.e. agents communicate only if they are within a distance of 20 cells) (cfr. Tables 7, 12, 11a, 11c, and 11b in the paper)
| Group size | No Leader | No Leader with an A+ | Leader | Leader with an A+ | Leader(A+) |
| Small | 57/720 | 43/646 | 654/703 | 305/364 | 466/513 |
| Large | 3/56 | 3/56 | 81/129 | 40/86 | 40/87 |
A+: an agent with better sensory system
Leader(A+): is a leader with better sensory system
Small: 20 agents
Large: 50 agents
Blue digits: time needed by the first agent to reach the target
Red digits: time needed by the last agent to reach the target