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Strongly opinionated minorities can have a dramatic impact on the opiniondynamics of a large population. Two factions of inflexible minorities,polarised into two competing opinions, could lead the entire population topersistent indecision. Equivalently, populations can remain undecided whenindividuals sporadically change their opinion based on individual informationrather than social information. Our analysis compares the cross-inhibitionmodel with the voter model for decisions between equally good alternatives, andwith the weighted voter model for decisions among alternatives characterised bydifferent qualities. Here we show that cross-inhibition, differently from theother two models, is a simple mechanism, ubiquitous in collective biologicalsystems, that allows the population to reach a stable majority for onealternative even in the presence of asocial behaviour. The results predicted bythe mean-field models are confirmed by experiments with swarms of 100 locallyinteracting robots. This work suggests an answer to the longstanding questionof why inhibitory signals are widespread in natural systems of collectivedecision making, and, at the same time, it proposes an efficient mechanism fordesigning resilient swarms of minimalistic robots.

Cross-inhibition leads to group consensus despite the presence of strongly opinionated minorities and asocial behaviour