Publications
The canonical citation list. For an editorial overview of what the work is about, see the research index; for release and result news, see updates.
On distribution. Nothing below is on arXiv yet, and none of it has been through peer review. We distribute these as Arboria Labs technical reports and cite them as such. We would rather be cited accurately than cited early.
Measured results
Phase Diagram of Decentralized Coordination Under Communication Delay
Adams, C. (2026). Arboria Labs Technical Report. Full paper →
Coordination quality collapses through a boundary near 10–20 steps of communication delay. The collapse is independent of the coordination primitive and invariant in swarm size. Derived from a 900-cell grid plus a 45-cell Vicsek anchor.
Keywords: Decentralized coordination · Communication delay · Delay-coupled systems · Phase transition · Consensus · Rendezvous.
@techreport{adams2026phasediagram,
title = {Phase Diagram of Decentralized Coordination
Under Communication Delay},
author = {Adams, Chris},
institution = {Arboria Labs},
year = {2026},
url = {https://www.arborialabs.com/research/phase_diagram_coordination_communication_delay}
}Anticipatory Coordination via Peer-State Prediction Under Communication Delay
Adams, C. (2026). Arboria Labs Technical Report. Full paper →
Constant-velocity extrapolation of a stale peer view recovers coordination quality of 0.66 at a delay where the unaided swarm scores 0.00, and outranks both a Kalman filter and a least-squares fit. Derived from a 200-cell grid.
Keywords: Anticipatory coordination · Peer-state prediction · Communication delay · Consensus · Rendezvous · Multi-agent systems.
@techreport{adams2026anticipatory,
title = {Anticipatory Coordination via Peer-State Prediction
Under Communication Delay},
author = {Adams, Chris},
institution = {Arboria Labs},
year = {2026},
url = {https://www.arborialabs.com/research/anticipatory_coordination_peer_prediction}
}Freshness or Throughput? Coordination Under Lossy Communication Depends on Staleness, Not Delivered Rate
Adams, C. (2026). Arboria Labs Technical Report. Full paper →
Sweeping packet loss against delay on a delivery-gated channel, coordination quality is flat across a 50× reduction in delivered links at fixed delay, while falling fivefold along the delay axis. Delivered throughput is causally decoupled from coordination; only staleness binds. Derived from a 320-cell grid.
Keywords: Decentralized coordination · Communication delay · Packet loss · Delivery gating · Age of information · Consensus · Rendezvous.
@techreport{adams2026freshness,
title = {Freshness or Throughput? Coordination Under Lossy Communication
Depends on Staleness, Not Delivered Rate},
author = {Adams, Chris},
institution = {Arboria Labs},
year = {2026},
url = {https://www.arborialabs.com/research/freshness_vs_throughput_lossy_coordination}
}Delay Relative to What? The Coordination Cliff Scales with the Task Timescale
Adams, C. (2026). Arboria Labs Technical Report. Full paper →
Imposing an external task timescale on a delay-coupled tracking task, the collapse delay scales with it at a constant ratio of ≈0.047, then saturates at ≈9 steps once the swarm’s intrinsic convergence time becomes the shorter timescale — pinning the boundary to delay over the shorter of the two.
Keywords: Decentralized coordination · Communication delay · Task timescale · Delay-coupled systems · Tracking · Consensus · Multi-agent systems.
@techreport{adams2026timescale,
title = {Delay Relative to What? The Coordination Cliff Scales with
the Task Timescale},
author = {Adams, Chris},
institution = {Arboria Labs},
year = {2026},
url = {https://www.arborialabs.com/research/imposed_task_timescale_delay_ratio}
}Energy-Aware Hierarchical Markets: Decentralized Auctions for Autonomous Lunar Construction
Adams, C. (2026). Arboria Labs Technical Report. Full paper →
A decentralized energy-aware auction raises printed mass 34% over a first-come baseline and matches an OR-Tools central planner — but only where hauling capacity is scarce. One rung up the capacity ladder the effect is a null; with haulers over-provisioned the market is 11% worse than the naive baseline. The depot buffer-decoupling hypothesis is refuted in every regime measured. Derived from a 180-cell hauler-capacity sweep at 20 seeds per cell.
Keywords: Planetary construction · Market-based scheduling · Energy-aware auctions · Swarm robotics · ISRU · Multi-agent systems.
@techreport{adams2026hma,
title = {Energy-Aware Hierarchical Markets: Decentralized Auctions
for Autonomous Lunar Construction},
author = {Adams, Chris},
institution = {Arboria Labs},
year = {2026},
url = {https://www.arborialabs.com/research/macro_micro_synergy_planetary_engineering}
}Archive
ICCD: CRDT-Based Intent Propagation over Contact-Plan DTN for Million-Agent Swarms at Hour-Scale Light Delay
Adams, C. (2025). Arboria Labs Technical Report. Full paper →
Keywords: Swarm intelligence · Delay-tolerant networking · CRDTs · Interstellar exploration · Multi-agent systems · Fault tolerance.
@techreport{adams2025iccd,
title = {{ICCD}: {CRDT}-Based Intent Propagation over Contact-Plan {DTN}
for Million-Agent Swarms at Hour-Scale Light Delay},
author = {Adams, Chris},
institution = {Arboria Labs},
year = {2025},
url = {https://www.arborialabs.com/research/distributed_intelligence_interstellar_systems}
}Density-Modulated Boids and Stigmergic Coverage: Phase Transitions in 500k-Agent Exploration Swarms
Adams, C. (2025). Arboria Labs Technical Report. Full paper →
Keywords: Emergent behavior · Boids · Ant colony optimization · Coverage · Phase transitions · Space exploration.
@techreport{adams2025dmb,
title = {Density-Modulated Boids and Stigmergic Coverage:
Phase Transitions in 500k-Agent Exploration Swarms},
author = {Adams, Chris},
institution = {Arboria Labs},
year = {2025},
url = {https://www.arborialabs.com/research/emergent_behavior_models_large_scale_space_exploration}
}Citing the tools
Arboria’s engines are proprietary and not distributed, so there is no version to install and pin. If your work compares against a published Arboria result, cite the paper. If you are describing our simulation stack — for instance in related work — cite the toolchain documentation:
@misc{arboria2026toolchain,
title = {The Arboria Toolchain: Leviathan, Gossamer, and Maneuver.Map},
author = {{Arboria Labs}},
year = {2026},
howpublished = {\url{https://www.arborialabs.com/tools}},
note = {Proprietary simulation stack; documentation only}
}Reproducibility
What each run pins, what we share with reviewers and collaborators, and what we cannot distribute is set out at Reproducibility and Data Availability.