Emergence of Temporal and Spatial Synchronous Behaviors in a Foraging Swarm

International audienceBiological populations often exhibit complex and efficient behaviors, where temporal and spatial couplings at the macro-scale population level emerge from interactions at the micro-scale individual level, without any centralized control. This paper specifically investigates the emergence of behavioral synchronization and the division of labor in a foraging swarm of robotic agents. A deterministic model is proposed and used by each agent to decide whether it goes foraging, based on local cues about its fellow ants' behavior. This individual model, based on the competition of two spiking neurons, results in a self-organized division of labor at the population level. Depending on the strength and occurrences of interactions among individuals, the population behavior displays either an asynchronous, or a synchronous aperiodic, or a synchronous periodic division of labor. Further, the benefits of synchronized individual behaviors in terms of overall foraging efficiency are highlighted in a 2D spatial simulation

Towards formal models and languages for verifiable Multi-Robot Systems

Incorrect operations of a Multi-Robot System (MRS) may not only lead to unsatisfactory results, but can also cause economic losses and threats to safety. These threats may not always be apparent, since they may arise as unforeseen consequences of the interactions between elements of the system. This call for tools and techniques that can help in providing guarantees about MRSs behaviour. We think that, whenever possible, these guarantees should be backed up by formal proofs to complement traditional approaches based on testing and simulation. We believe that tailored linguistic support to specify MRSs is a major step towards this goal. In particular, reducing the gap between typical features of an MRS and the level of abstraction of the linguistic primitives would simplify both the specification of these systems and the verification of their properties. In this work, we review different agent-oriented languages and their features; we then consider a selection of case studies of interest and implement them useing the surveyed languages. We also evaluate and compare effectiveness of the proposed solution, considering, in particular, easiness of expressing non-trivial behaviour.Comment: Changed formattin

Adaptive and learning-based formation control of swarm robots

Autonomous aerial and wheeled mobile robots play a major role in tasks such as search and rescue, transportation, monitoring, and inspection. However, these operations are faced with a few open challenges including robust autonomy, and adaptive coordination based on the environment and operating conditions, particularly in swarm robots with limited communication and perception capabilities. Furthermore, the computational complexity increases exponentially with the number of robots in the swarm. This thesis examines two different aspects of the formation control problem. On the one hand, we investigate how formation could be performed by swarm robots with limited communication and perception (e.g., Crazyflie nano quadrotor). On the other hand, we explore human-swarm interaction (HSI) and different shared-control mechanisms between human and swarm robots (e.g., BristleBot) for artistic creation. In particular, we combine bio-inspired (i.e., flocking, foraging) techniques with learning-based control strategies (using artificial neural networks) for adaptive control of multi- robots. We first review how learning-based control and networked dynamical systems can be used to assign distributed and decentralized policies to individual robots such that the desired formation emerges from their collective behavior. We proceed by presenting a novel flocking control for UAV swarm using deep reinforcement learning. We formulate the flocking formation problem as a partially observable Markov decision process (POMDP), and consider a leader-follower configuration, where consensus among all UAVs is used to train a shared control policy, and each UAV performs actions based on the local information it collects. In addition, to avoid collision among UAVs and guarantee flocking and navigation, a reward function is added with the global flocking maintenance, mutual reward, and a collision penalty. We adapt deep deterministic policy gradient (DDPG) with centralized training and decentralized execution to obtain the flocking control policy using actor-critic networks and a global state space matrix. In the context of swarm robotics in arts, we investigate how the formation paradigm can serve as an interaction modality for artists to aesthetically utilize swarms. In particular, we explore particle swarm optimization (PSO) and random walk to control the communication between a team of robots with swarming behavior for musical creation

Social navigation

In this chapter we present one of the pioneer approaches in supporting users in navigating the complex information spaces, social navigation support. Social navigation support is inspired by natural tendencies of individuals to follow traces of each other in exploring the world, especially when dealing with uncertainties. In this chapter, we cover details on various approaches in implementing social navigation support in the information space as we also connect the concept to supporting theories. The first part of this chapter reviews related theories and introduces the design space of social navigation support through a series of example applications. The second part of the chapter discusses the common challenges in design and implementation of social navigation support, demonstrates how these challenges have been addressed, and reviews more recent direction of social navigation support. Furthermore, as social navigation support has been an inspirational approach to various other social information access approaches we discuss how social navigation support can be integrated with those approaches. We conclude with a review of evaluation methods for social navigation support and remarks about its current state

Social insects and swarm intelligence

Most of the questions on the dynamics of systems of strongly interacting (simple) agents we can pose could be reframed, without any modification, in the context of social insects, since these are, without any doubt, a truly paradigm for complex systems. This chapter surveys some of the mathematical models that have been successfully used to analyze swarm behavior.Postprint (published version

Individual-based artificial ecosystems for design and optimization

Individual-based modeling has gained popularity over the last decade, mainly due to the paradigm\u27s proven ability to address a variety of problems seen in many disciplines, including modeling complex systems from bottom-up, providing relationship between component level and system level parameters, and discovering the emergence of system-level behaviors from simple component level interactions. Availability of computational power to run simulation models with thousands to millions of agents is another driving force in the widespread adoption of individual-based modeling. This thesis proposes an individual-based modeling approach for solving engineering design and optimization problems using artificial ecosystems --Abstract, page iii