Coherent collective behaviour emerging from decentralised balancing of social feedback and noise

Decentralised systems composed of a large number of locally interacting agents often rely on coherent behaviour to execute coordinated tasks. Agents cooperate to reach a coherent collective behaviour by aligning their individual behaviour to the one of their neighbours. However, system noise, determined by factors such as individual exploration or errors, hampers and reduces collective coherence. The possibility to overcome noise and reach collective coherence is determined by the strength of social feedback, i.e. the number of communication links. On the one hand, scarce social feedback may lead to a noise-driven system and consequently incoherent behaviour within the group. On the other hand, excessively strong social feedback may require unnecessary computing by individual agents and/or may nullify the possible benefits of noise. In this study, we investigate the delicate balance between social feedback and noise, and its relationship with collective coherence. We perform our analysis through a locust-inspired case study of coherently marching agents, modelling the binary collective decision-making problem of symmetry breaking. For this case study, we analytically approximate the minimal number of communication links necessary to attain maximum collective coherence. To validate our findings, we simulate a 500-robot swarm and obtain good agreement between theoretical results and physics-based simulations. We illustrate through simulation experiments how the robot swarm, using a decentralised algorithm, can adaptively reach coherence for various noise levels by regulating the number of communication links. Moreover, we show that when the system is disrupted by increasing and decreasing the robot density, the robot swarm adaptively responds to these changes in real time. This decentralised adaptive behaviour indicates that the derived relationship between social feedback, noise and coherence is robust and swarm size independent

Collective decision-making on triadic graphs

Many real-world networks exhibit community structures and non-trivial clustering associated with the occurrence of a considerable number of triangular subgraphs known as triadic motifs. Triads are a set of distinct triangles that do not share an edge with any other triangle in the network. Network motifs are subgraphs that occur significantly more often compared to random topologies. Two prominent examples, the feedforward loop and the feedback loop, occur in various real-world networks such as gene-regulatory networks, food webs or neuronal networks. However, as triangular connections are also prevalent in communication topologies of complex collective systems, it is worthwhile investigating the influence of triadic motifs on the collective decision-making dynamics. To this end, we generate networks called Triadic Graphs (TGs) exclusively from distinct triadic motifs. We then apply TGs as underlying topologies of systems with collective dynamics inspired from locust marching bands. We demonstrate that the motif type constituting the networks can have a paramount influence on group decision-making that cannot be explained solely in terms of the degree distribution. We find that, in contrast to the feedback loop, when the feedforward loop is the dominant subgraph, the resulting network is hierarchical and inhibits coherent behavior

Self-organising agent communities for autonomic computing

Efficient resource management is one of key problems associated with large-scale distributed computational systems. Taking into account their increasing complexity, inherent distribution and dynamism, such systems are required to adjust and adapt resources market that is offered by them at run-time and with minimal cost. However, as observed by major IT vendors such as IBM, SUN or HP, the very nature of such systems prevents any reliable and efficient control over their functioning through human administration.For this reason, autonomic system architectures capable of regulating their own functioning are suggested as the alternative solution to looming software complexity crisis. Here, large-scale infrastructures are assumed to comprise myriads of autonomic elements, each acting, learning or evolving separately in response to interactions in their local environments. The self-regulation of the whole system, in turn, becomes a product of local adaptations and interactions between system elements.Although many researchers suggest the application of multi-agent systems that are suitable for realising this vision, not much is known about regulatory mechanisms that are capable to achieve efficient organisation within a system comprising a population of locally and autonomously interacting agents. To address this problem, the aim of the work presented in this thesis was to understand how global system control can emerge out of such local interactions of individual system elements and to develop decentralised decision control mechanisms that are capable to employ this bottom-up self-organisation in order to preserve efficient resource management in dynamic and unpredictable system functioning conditions. To do so, we have identified the study of complex natural systems and their self-organising properties as an area of research that may deliver novel control solutions within the context of autonomic computing.In such a setting, a central challenge for the construction of distributed computational systems was to develop an engineering methodology that can exploit self-organising principles observed in natural systems. This, in particular, required to identify conditions and local mechanisms that give rise to useful self-organisation of interacting elements into structures that support required system functionality. To achieve this, we proposed an autonomic system model exploiting self-organising algorithms and its thermodynamic interpretation, providing a general understanding of self-organising processes that need to be taken into account within artificial systems exploiting self-organisation.<br/

When less is more: Robot swarms adapt better to changes with constrained communication

To effectively perform collective monitoring of dynamic environments, a robot swarm needs to adapt to changes by processing the latest information and discarding outdated beliefs. We show that in a swarm composed of robots relying on local sensing, adaptation is better achieved if the robots have a shorter rather than longer communication range. This result is in contrast with the widespread belief that more communication links always improve the information exchange on a network. We tasked robots with reaching agreement on the best option currently available in their operating environment. We propose a variety of behaviors composed of reactive rules to process environmental and social information. Our study focuses on simple behaviors based on the voter model—a well-known minimal protocol to regulate social interactions—that can be implemented in minimalistic machines. Although different from each other, all behaviors confirm the general result: The ability of the swarm to adapt improves when robots have fewer communication links. The average number of links per robot reduces when the individual communication range or the robot density decreases. The analysis of the swarm dynamics via mean-field models suggests that our results generalize to other systems based on the voter model. Model predictions are confirmed by results of multiagent simulations and experiments with 50 Kilobot robots. Limiting the communication to a local neighborhood is a cheap decentralized solution to allow robot swarms to adapt to previously unknown information that is locally observed by a minority of the robots

Engineering Self-Adaptive Collective Processes for Cyber-Physical Ecosystems

The pervasiveness of computing and networking is creating significant opportunities for building valuable socio-technical systems. However, the scale, density, heterogeneity, interdependence, and QoS constraints of many target systems pose severe operational and engineering challenges. Beyond individual smart devices, cyber-physical collectives can provide services or solve complex problems by leveraging a “system effect” while coordinating and adapting to context or environment change. Understanding and building systems exhibiting collective intelligence and autonomic capabilities represent a prominent research goal, partly covered, e.g., by the field of collective adaptive systems. Therefore, drawing inspiration from and building on the long-time research activity on coordination, multi-agent systems, autonomic/self-* systems, spatial computing, and especially on the recent aggregate computing paradigm, this thesis investigates concepts, methods, and tools for the engineering of possibly large-scale, heterogeneous ensembles of situated components that should be able to operate, adapt and self-organise in a decentralised fashion. The primary contribution of this thesis consists of four main parts. First, we define and implement an aggregate programming language (ScaFi), internal to the mainstream Scala programming language, for describing collective adaptive behaviour, based on field calculi. Second, we conceive of a “dynamic collective computation” abstraction, also called aggregate process, formalised by an extension to the field calculus, and implemented in ScaFi. Third, we characterise and provide a proof-of-concept implementation of a middleware for aggregate computing that enables the development of aggregate systems according to multiple architectural styles. Fourth, we apply and evaluate aggregate computing techniques to edge computing scenarios, and characterise a design pattern, called Self-organising Coordination Regions (SCR), that supports adjustable, decentralised decision-making and activity in dynamic environments.Con lo sviluppo di informatica e intelligenza artificiale, la diffusione pervasiva di device computazionali e la crescente interconnessione tra elementi fisici e digitali, emergono innumerevoli opportunità per la costruzione di sistemi socio-tecnici di nuova generazione. Tuttavia, l'ingegneria di tali sistemi presenta notevoli sfide, data la loro complessità—si pensi ai livelli, scale, eterogeneità, e interdipendenze coinvolti. Oltre a dispositivi smart individuali, collettivi cyber-fisici possono fornire servizi o risolvere problemi complessi con un “effetto sistema” che emerge dalla coordinazione e l'adattamento di componenti fra loro, l'ambiente e il contesto. Comprendere e costruire sistemi in grado di esibire intelligenza collettiva e capacità autonomiche è un importante problema di ricerca studiato, ad esempio, nel campo dei sistemi collettivi adattativi. Perciò, traendo ispirazione e partendo dall'attività di ricerca su coordinazione, sistemi multiagente e self-*, modelli di computazione spazio-temporali e, specialmente, sul recente paradigma di programmazione aggregata, questa tesi tratta concetti, metodi, e strumenti per l'ingegneria di ensemble di elementi situati eterogenei che devono essere in grado di lavorare, adattarsi, e auto-organizzarsi in modo decentralizzato. Il contributo di questa tesi consiste in quattro parti principali. In primo luogo, viene definito e implementato un linguaggio di programmazione aggregata (ScaFi), interno al linguaggio Scala, per descrivere comportamenti collettivi e adattativi secondo l'approccio dei campi computazionali. In secondo luogo, si propone e caratterizza l'astrazione di processo aggregato per rappresentare computazioni collettive dinamiche concorrenti, formalizzata come estensione al field calculus e implementata in ScaFi. Inoltre, si analizza e implementa un prototipo di middleware per sistemi aggregati, in grado di supportare più stili architetturali. Infine, si applicano e valutano tecniche di programmazione aggregata in scenari di edge computing, e si propone un pattern, Self-Organising Coordination Regions, per supportare, in modo decentralizzato, attività decisionali e di regolazione in ambienti dinamici

Self-organising agent communities for autonomic resource management

The autonomic computing paradigm addresses the operational challenges presented by increasingly complex software systems by proposing that they be composed of many autonomous components, each responsible for the run-time reconfiguration of its own dedicated hardware and software components. Consequently, regulation of the whole software system becomes an emergent property of local adaptation and learning carried out by these autonomous system elements. Designing appropriate local adaptation policies for the components of such systems remains a major challenge. This is particularly true where the system’s scale and dynamism compromise the efficiency of a central executive and/or prevent components from pooling information to achieve a shared, accurate evidence base for their negotiations and decisions.In this paper, we investigate how a self-regulatory system response may arise spontaneously from local interactions between autonomic system elements tasked with adaptively consuming/providing computational resources or services when the demand for such resources is continually changing. We demonstrate that system performance is not maximised when all system components are able to freely share information with one another. Rather, maximum efficiency is achieved when individual components have only limited knowledge of their peers. Under these conditions, the system self-organises into appropriate community structures. By maintaining information flow at the level of communities, the system is able to remain stable enough to efficiently satisfy service demand in resource-limited environments, and thus minimise any unnecessary reconfiguration whilst remaining sufficiently adaptive to be able to reconfigure when service demand changes

Adaptive foraging in dynamic environments using scale-free interaction networks

Group interactions are widely observed in nature to optimize a set of critical collective behaviors, most notably sensing and decision making in uncertain environments. Nevertheless, these interactions are commonly modeled using local (proximity) networks, in which individuals interact within a certain spatial range. Recently, other interaction topologies have been revealed to support the emergence of higher levels of scalability and rapid information exchange. One prominent example is scale-free networks. In this study, we aim to examine the impact of scale-free communication when implemented for a swarm foraging task in dynamic environments. We model dynamic (uncertain) environments in terms of changes in food density and analyze the collective response of a simulated swarm with communication topology given by either proximity or scale-free networks. Our results suggest that scale-free networks accelerate the process of building up a rapid collective response to cope with the environment changes. However, this comes at the cost of lower coherence of the collective decision. Moreover, our findings suggest that the use of scale-free networks can improve swarm performance due to two side-effects introduced by using long-range interactions and frequent network regeneration. The former is a topological consequence, while the latter is a necessity due to robot motion. These two effects lead to reduced spatial correlations of a robot's behavior with its neighborhood and to an enhanced opinion mixing, i.e., more diversified information sampling. These insights were obtained by comparing the swarm performance in presence of scale-free networks to scenarios with alternative network topologies, and proximity networks with and without packet loss

State of the art 2015: a literature review of social media intelligence capabilities for counter-terrorism

Overview This paper is a review of how information and insight can be drawn from open social media sources. It focuses on the specific research techniques that have emerged, the capabilities they provide, the possible insights they offer, and the ethical and legal questions they raise. These techniques are considered relevant and valuable in so far as they can help to maintain public safety by preventing terrorism, preparing for it, protecting the public from it and pursuing its perpetrators. The report also considers how far this can be achieved against the backdrop of radically changing technology and public attitudes towards surveillance. This is an updated version of a 2013 report paper on the same subject, State of the Art. Since 2013, there have been significant changes in social media, how it is used by terrorist groups, and the methods being developed to make sense of it.&nbsp; The paper is structured as follows: Part 1 is an overview of social media use, focused on how it is used by groups of interest to those involved in counter-terrorism. This includes new sections on trends of social media platforms; and a new section on Islamic State (IS). Part 2 provides an introduction to the key approaches of social media intelligence (henceforth ‘SOCMINT’) for counter-terrorism. Part 3 sets out a series of SOCMINT techniques. For each technique a series of capabilities and insights are considered, the validity and reliability of the method is considered, and how they might be applied to counter-terrorism work explored. Part 4 outlines a number of important legal, ethical and practical considerations when undertaking SOCMINT work

The construction of Karen Karnak: The multi-author-function

This thesis is situated within the comparatively recent developments of Web 2.0 and the emergence of interactive WikiMedia, and explores the mode of authorship within a Read/Write culture compared to that of a Read/Only tradition. The hypothesis of this study is that the role of the audience has become merged with the author, and as such, represents new functions and attributes, distinct from a more conventional concept of authorship, in which the roles of audience and author are more separate. Read/Write and participatory culture, as defined by this study, is focused on collaboration, and includes the influences of D.I.Y. culture, Open-Source practices and the production of text by multiple authors. Multi-authorship presents a re-thinking of several concepts which support the notion of the individual author, since the focus of multi-authorship is not on attribution and ownership of a finished text, but on the continued malleability of a text. Modes of multi-authorship, demonstrated in the use of the pseudonyms Alan Smithee and Karen Eliot, represent declarative authors whose names signify multiple origins, whilst concurrently indicating a distinct body of work. The function of these names form an important context to this study, since primary research involves the construction of an experimental mode of multi-authorship utilising WikiMedia technology and the interaction of thirty nine participants, who are invited to create a body of work under the collective pseudonym Karen Karnak. The data generated by this experiment is analysed using aspects of Michel Foucault's author-function to identify and determine power structures inherent in the WikiMedia context. The interplay of power structures, including concepts such as identity, ownership and the body of work, affect the resulting mode of authorship and contribute to the construction of Karen Karnak, suggesting further areas of research into the emerging multi-author