54,228 research outputs found
Dynamical strategies for obstacle avoidance during Dictyostelium discoideum aggregation: a Multi-agent system model
Chemotaxis, the movement of an organism in response to chemical stimuli, is a
typical feature of many microbiological systems. In particular, the social
amoeba \textit{Disctyostelium discoideum} is widely used as a model organism,
but it is not still clear how it behaves in heterogeneous environments. A few
models focusing on mechanical features have already addressed the question;
however, we suggest that phenomenological models focusing on the population
dynamics may provide new meaningful data. Consequently, by means of a specific
Multi-agent system model, we study the dynamical features emerging from complex
social interactions among individuals belonging to amoeba colonies.\\ After
defining an appropriate metric to quantitatively estimate the gathering
process, we find that: a) obstacles play the role of local topological
perturbation, as they alter the flux of chemical signals; b) physical obstacles
(blocking the cellular motion and the chemical flux) and purely chemical
obstacles (only interfering with chemical flux) elicit similar dynamical
behaviors; c) a minimal program for robustly gathering simulated cells does not
involve mechanisms for obstacle sensing and avoidance; d) fluctuations of the
dynamics concur in preventing multiple stable clusters. Comparing those
findings with previous results, we speculate about the fact that chemotactic
cells can avoid obstacles by simply following the altered chemical gradient.
Social interactions are sufficient to guarantee the aggregation of the whole
colony past numerous obstacles
Stability and Diversity in Collective Adaptation
We derive a class of macroscopic differential equations that describe
collective adaptation, starting from a discrete-time stochastic microscopic
model. The behavior of each agent is a dynamic balance between adaptation that
locally achieves the best action and memory loss that leads to randomized
behavior. We show that, although individual agents interact with their
environment and other agents in a purely self-interested way, macroscopic
behavior can be interpreted as game dynamics. Application to several familiar,
explicit game interactions shows that the adaptation dynamics exhibits a
diversity of collective behaviors. The simplicity of the assumptions underlying
the macroscopic equations suggests that these behaviors should be expected
broadly in collective adaptation. We also analyze the adaptation dynamics from
an information-theoretic viewpoint and discuss self-organization induced by
information flux between agents, giving a novel view of collective adaptation.Comment: 22 pages, 23 figures; updated references, corrected typos, changed
conten
Collective states in social systems with interacting learning agents
We consider a social system of interacting heterogeneous agents with learning
abilities, a model close to Random Field Ising Models, where the random field
corresponds to the idiosyncratic willingness to pay. Given a fixed price,
agents decide repeatedly whether to buy or not a unit of a good, so as to
maximize their expected utilities. We show that the equilibrium reached by the
system depends on the nature of the information agents use to estimate their
expected utilities.Comment: 18 pages, 26 figure
Coupled Replicator Equations for the Dynamics of Learning in Multiagent Systems
Starting with a group of reinforcement-learning agents we derive coupled
replicator equations that describe the dynamics of collective learning in
multiagent systems. We show that, although agents model their environment in a
self-interested way without sharing knowledge, a game dynamics emerges
naturally through environment-mediated interactions. An application to
rock-scissors-paper game interactions shows that the collective learning
dynamics exhibits a diversity of competitive and cooperative behaviors. These
include quasiperiodicity, stable limit cycles, intermittency, and deterministic
chaos--behaviors that should be expected in heterogeneous multiagent systems
described by the general replicator equations we derive.Comment: 4 pages, 3 figures,
http://www.santafe.edu/projects/CompMech/papers/credlmas.html; updated
references, corrected typos, changed conten
Applying autonomy to distributed satellite systems: Trends, challenges, and future prospects
While monolithic satellite missions still pose significant advantages in terms of accuracy and
operations, novel distributed architectures are promising improved flexibility, responsiveness,
and adaptability to structural and functional changes. Large satellite swarms, opportunistic satellite
networks or heterogeneous constellations hybridizing small-spacecraft nodes with highperformance
satellites are becoming feasible and advantageous alternatives requiring the adoption
of new operation paradigms that enhance their autonomy. While autonomy is a notion that
is gaining acceptance in monolithic satellite missions, it can also be deemed an integral characteristic
in Distributed Satellite Systems (DSS). In this context, this paper focuses on the motivations
for system-level autonomy in DSS and justifies its need as an enabler of system qualities. Autonomy
is also presented as a necessary feature to bring new distributed Earth observation functions
(which require coordination and collaboration mechanisms) and to allow for novel structural
functions (e.g., opportunistic coalitions, exchange of resources, or in-orbit data services). Mission
Planning and Scheduling (MPS) frameworks are then presented as a key component to implement
autonomous operations in satellite missions. An exhaustive knowledge classification explores the
design aspects of MPS for DSS, and conceptually groups them into: components and organizational
paradigms; problem modeling and representation; optimization techniques and metaheuristics;
execution and runtime characteristics and the notions of tasks, resources, and constraints.
This paper concludes by proposing future strands of work devoted to study the trade-offs of
autonomy in large-scale, highly dynamic and heterogeneous networks through frameworks that
consider some of the limitations of small spacecraft technologies.Postprint (author's final draft
A macroscopic analytical model of collaboration in distributed robotic systems
In this article, we present a macroscopic analytical model of collaboration in a group of reactive robots. The model consists of a series of coupled differential equations that describe the dynamics of group behavior. After presenting the general model, we analyze in detail a case study of collaboration, the stick-pulling experiment, studied experimentally and in simulation by Ijspeert et al. [Autonomous Robots, 11, 149-171]. The robots' task is to pull sticks out of their holes, and it can be successfully achieved only through the collaboration of two robots. There is no explicit communication or coordination between the robots. Unlike microscopic simulations (sensor-based or using a probabilistic numerical model), in which computational time scales with the robot group size, the macroscopic model is computationally efficient, because its solutions are independent of robot group size. Analysis reproduces several qualitative conclusions of Ijspeert et al.: namely, the different dynamical regimes for different values of the ratio of robots to sticks, the existence of optimal control parameters that maximize system performance as a function of group size, and the transition from superlinear to sublinear performance as the number of robots is increased
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