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Spatio-Temporal Patterns act as Computational Mechanisms governing Emergent behavior in Robotic Swarms
open access articleOur goal is to control a robotic swarm without removing its swarm-like nature. In other words, we aim to intrinsically control a robotic swarm emergent behavior. Past attempts at governing robotic swarms or their selfcoordinating emergent behavior, has proven ineffective, largely due to the swarm’s inherent randomness (making it difficult to predict) and utter simplicity (they lack a leader, any kind of centralized control, long-range communication, global knowledge, complex internal models and only operate on a couple of basic, reactive rules). The main problem is that emergent phenomena itself is not fully understood, despite being at the forefront of current research. Research into 1D and 2D Cellular Automata has uncovered a hidden computational layer which bridges the micromacro gap (i.e., how individual behaviors at the micro-level influence the global behaviors on the macro-level). We hypothesize that there also lie embedded computational mechanisms at the heart of a robotic swarm’s emergent behavior. To test this theory, we proceeded to simulate robotic swarms (represented as both particles and dynamic networks) and then designed local rules to induce various types of intelligent, emergent behaviors (as well as designing genetic algorithms to evolve robotic swarms with emergent behaviors). Finally, we analysed these robotic swarms and successfully confirmed our hypothesis; analyzing their developments and interactions over time revealed various forms of embedded spatiotemporal patterns which store, propagate and parallel process information across the swarm according to some internal, collision-based logic (solving the mystery of how simple robots are able to self-coordinate and allow global behaviors to emerge across the swarm)
Fitness landscape of the cellular automata majority problem: View from the Olympus
In this paper we study cellular automata (CAs) that perform the computational
Majority task. This task is a good example of what the phenomenon of emergence
in complex systems is. We take an interest in the reasons that make this
particular fitness landscape a difficult one. The first goal is to study the
landscape as such, and thus it is ideally independent from the actual
heuristics used to search the space. However, a second goal is to understand
the features a good search technique for this particular problem space should
possess. We statistically quantify in various ways the degree of difficulty of
searching this landscape. Due to neutrality, investigations based on sampling
techniques on the whole landscape are difficult to conduct. So, we go exploring
the landscape from the top. Although it has been proved that no CA can perform
the task perfectly, several efficient CAs for this task have been found.
Exploiting similarities between these CAs and symmetries in the landscape, we
define the Olympus landscape which is regarded as the ''heavenly home'' of the
best local optima known (blok). Then we measure several properties of this
subspace. Although it is easier to find relevant CAs in this subspace than in
the overall landscape, there are structural reasons that prevent a searcher
from finding overfitted CAs in the Olympus. Finally, we study dynamics and
performance of genetic algorithms on the Olympus in order to confirm our
analysis and to find efficient CAs for the Majority problem with low
computational cost
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