Swarms on Continuous Data

While being it extremely important, many Exploratory Data Analysis (EDA) systems have the inhability to perform classification and visualization in a continuous basis or to self-organize new data-items into the older ones (evenmore into new labels if necessary), which can be crucial in KDD - Knowledge Discovery, Retrieval and Data Mining Systems (interactive and online forms of Web Applications are just one example). This disadvantge is also present in more recent approaches using Self-Organizing Maps. On the present work, and exploiting past sucesses in recently proposed Stigmergic Ant Systems a robust online classifier is presented, which produces class decisions on a continuous stream data, allowing for continuous mappings. Results show that increasingly better results are achieved, as demonstraded by other authors in different areas. KEYWORDS: Swarm Intelligence, Ant Systems, Stigmergy, Data-Mining, Exploratory Data Analysis, Image Retrieval, Continuous Classification.Comment: 6 pages, 3 figures, at http://alfa.ist.utl.pt/~cvrm/staff/vramos/ref_45.htm

Genetic stigmergy: Framework and applications

Stigmergy has long been studied and recognized as an effective system for self-organization among social insects. Through the use of chemical agents known as pheromones, insect colonies are capable of complex collective behavior often beyond the scope of an individual agent. In an effort to develop human-made systems with the same robustness, scientists have created artificial analogues of pheromone-based stigmergy, but these systems often suffer from scalability and complexity issues due to the problems associated with mimicking the physics of pheromone diffusion. In this thesis, an alternative stigmergic framework called \u27Genetic Stigmergy\u27 is introduced. Using this framework, agents can indirectly share entire behavioral algorithms instead of pheromone traces that are limited in information content. The genetic constructs used in this framework allow for new avenues of research, including real-time evolution and adaptation of agents to complex environments. As a nascent test of its potential, experiments are performed using genetic stigmergy as an indirect communication framework for a simulated swarm of robots tasked with mapping an unknown environment. The robots are able to share their behavioral genes through environmentally distributed Radio-Frequency Identification cards. It was found that robots using a schema encouraging them to adopt lesser used behavioral genes (corresponding with novelty in exploration strategies) can generally cover more of an environment than agents who randomly switch their genes, but only if the environmental complexity is not too high. While the performance improvement is not statistically significant enough to clearly establish genetic stigmergy as a superior alternative to pheromonal-based artificial stigmergy, it is enough to warrant further research to develop its potential

Towards simulating the emergence of environmentally responsible behavior among natural resource users : an integration of complex systems theory, machine learning and geographic information science

La gouvernance pour le développement durable comporte de nombreux défis. L'un de ces défis consiste à mieux comprendre les systèmes socio-écologiques gouvernés. Dans de tels systèmes, l'apprentissage par essais et erreurs implique le risque de conséquences inattendues, irréversibles et néfastes. De plus, en raison de la complexité des systèmes socio-écologiques, les leçons tirées d'expériences à petite échelle ne peuvent pas toujours être applicables à des problèmes à grande échelle. Un autre aspect difficile des problèmes de développement durable est que ces problèmes sont souvent multidisciplinaires et composés de composants qui sont chacun étudiés individuellement dans une discipline différente, mais il existe peu d'informations sur leur comportement ensemble. Un troisième défi de la gouvernance pour le développement durable est qu'il est souvent nécessaire d'impliquer les parties prenantes dans des actions de gestion et des mesures d'intervention coûteuses pour les individus qui y participent. De plus, dans de nombreuses situations de ce type, les incitations financières et l'application des réglementations se soldent par un échec et ne constituent donc pas des options de gouvernance. Dans cette thèse, les défis ci-dessus sont abordés dans un exemple de contrôle des perturbations forestières avec une approche intégrée. Pour éviter le problème des effets indésirables irréversibles et pour permettre des expériences répétées, une approche de simulation est utilisée. Pour relever le défi de la multidisciplinarité des problèmes des systèmes socio-écologiques, deux modèles sont développés indépendamment - portant sur les aspects sociaux et écologiques du système de l'étude - et ils sont ensuite couplés de telle sorte que la sortie de chaque modèle est utilisée comme entrée pour l'autre modèle. Pour résoudre le problème de l'engagement des parties prenantes, un plan est proposé pour la promotion d'un comportement respectueux de l'environnement. Ce plan est basé sur l'offre de reconnaissance à ceux qui adoptent volontairement le comportement responsable. Le modèle écologique de cette étude, qui simule la propagation d'une perturbation forestière, est construit à l'aide de l’apprentissage automatique supervisé. Le modèle social de cette étude, qui simule l'émergence d'une nouvelle norme de comportement, est construit à l'aide de l'apprentissage par renforcement. Les deux modèles sont testés et validés avant couplage. Le modèle couplé est ensuite utilisé comme un laboratoire virtuel, où plusieurs expériences sont réalisées dans un cadre hypothétique et selon différents scénarios. Chacune de ces expériences est une simulation. A travers ces simulations, cette étude montre qu'avec un algorithme de prise de décision approprié et avec suffisamment de temps pour l'interaction entre une entité gouvernante et la société, il est possible de créer une motivation pour un comportement responsable dans la société. En d'autres termes, il est possible d'encourager la participation volontaire des acteurs à l'action pour le développement durable, sans que l'entité gouvernante ait besoin d'utiliser des incitations financières ou d'imposer son autorité. Ces résultats peuvent être applicables à d'autres contextes où un comportement responsable des individus ou des entreprises est recherché afin d'atténuer l'impact d'une perturbation, de protéger une ressource écologique, ou de faciliter une transition sectorielle vers la durabilité.Governance for sustainable development involves many challenges. One of those challenges is to gain insight about the social-ecological systems being governned. In such systems, learning by trial and error involve the risk of unexpected, irreversible and adverse consequences. Moreover, due to complexity of social-ecological systems, lessons learned from small scale experiments may not be applicable in large-scale problems. Another challenging aspect of problems of sustainable development is that these problems are often multidisciplinary and comprised of components that are each studied individually in a different discipline, but little information exists about their behavior together as a whole. A third challenge in governance for sustainable development is that often it is necessary to involve stakeholders in management actions and intervention measures that are costly for individuals who participate in them. Moreover, in many of these situations financial incentives or enforcement of regulations result in failure, and are thus not options for governance. In this thesis, the above challenges are addressed in an example case of forest disturbance control with an integrated approach. To avoid the problem of irreversible adverse effects and to allow repeated experiments, a simulation approach is used. To tackle the challenge of multidisciplinarity of problems of social-ecological systems, two models are independently developed – pertaining to social and ecological aspects of the system of the study – and they are subsequently coupled in such a way that the output of each model served as an input for the other. To address the problem of engagement of stakeholders, a scheme is proposed for promotion of environmentally responsible behavior. This scheme is based on offering recognition to those who voluntarily perform the responsible behavior. The ecological model of this study, which simulates the spread of a forest disturbance, is built using Supervised Machine Learning. The social model of this study, which simulates the emergence of a new norm of behavior, is built using Reinforcement Learning. Both models are tested and validated before coupling. The coupled model is then used as a virtual laboratory, where several experiments are performed in a hypothetical setting and under various scenarios. Each such experiment is a simulation. Through these simulations, this study shows that with an appropriate decision-making algorithm and with sufficient time for interaction between a governing entity and the society, it is possible to create motivation for responsible behavior in the society. In other words, it is possible to encourage voluntary participation of stakeholders in action for sustainable development, without the need for the governing entity to use financial incentives or impose its authority. These results may be applicable to other contexts where responsible behavior by individuals or enterprises is sought in order to mitigate the impact of a disturbance, protect an ecological resource, or facilitate a sectoral transition towards sustainability

Design of an UAV swarm

This master thesis tries to give an overview on the general aspects involved in the design of an UAV swarm. UAV swarms are continuoulsy gaining popularity amongst researchers and UAV manufacturers, since they allow greater success rates in task accomplishing with reduced times. Appart from this, multiple UAVs cooperating between them opens a new field of missions that can only be carried in this way. All the topics explained within this master thesis will explain all the agents involved in the design of an UAV swarm, from the communication protocols between them, navigation and trajectory analysis and task allocation

Bioinspired Principles for Large-Scale Networked Sensor Systems: An Overview

Biology has often been used as a source of inspiration in computer science and engineering. Bioinspired principles have found their way into network node design and research due to the appealing analogies between biological systems and large networks of small sensors. This paper provides an overview of bioinspired principles and methods such as swarm intelligence, natural time synchronization, artificial immune system and intercellular information exchange applicable for sensor network design. Bioinspired principles and methods are discussed in the context of routing, clustering, time synchronization, optimal node deployment, localization and security and privacy