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)

Initial Experiments in Using Communication Swarms to Improve the Performance of Swarm Systems

Abstract. Swarm intelligence can provide robust, adaptable, scalable solutions to difficult problems. The distributed nature of swarm activity is the basis of these desirable qualities, but it also prevents swarm-based techniques from having direct access to global knowledge that could facilitate the task at hand. Our experiments indicate that a swarm system can use an auxiliary swarm, called a communication swarm, to create and distribute an approximation of useful global knowledge, without sacrificing robustness, adaptability, and scalability. We describe a communication swarm and validate its effectiveness on a simple problem.

Spatio-temporal patterns act as computational mechanisms governing emergent behavior in robotic swarms

Our 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 self-coordinating 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 micro-macro 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)

The cognitive cell: bacterial behavior reconsidered

Research on how bacteria adapt to changing environments underlies the contemporary biological understanding of signal transduction, and signal transduction provides the foundation of the information-processing approach that is the hallmark of the ‘cognitive revolution,’ which began in the mid-20th century. Yet cognitive scientists largely remain oblivious to research into microbial behavior that might provide insights into problems in their own domains, while microbiologists seem equally unaware of the potential importance of their work to understanding cognitive capacities in multicellular organisms, including vertebrates. Evidence in bacteria for capacities encompassed by the concept of cognition is reviewed. Parallels exist not only at the heuristic level of functional analogue, but also at the level of molecular mechanism, evolution and ecology, which is where fruitful cross-fertilization among disciplines might be found

Cooperative Models of Particle Swarm Optimizers

Particle Swarm Optimization (PSO) is one of the most effFective optimization tools, which emerged in the last decade. Although, the original aim was to simulate the behavior of a group of birds or a school of fish looking for food, it was quickly realized that it could be applied in optimization problems. Different directions have been taken to analyze the PSO behavior as well as improving its performance. One approach is the introduction of the concept of cooperation. This thesis focuses on studying this concept in PSO by investigating the different design decisions that influence the cooperative PSO models' performance and introducing new approaches for information exchange. Firstly, a comprehensive survey of all the cooperative PSO models proposed in the literature is compiled and a definition of what is meant by a cooperative PSO model is introduced. A taxonomy for classifying the different surveyed cooperative PSO models is given. This taxonomy classifies the cooperative models based on two different aspects: the approach the model uses for decomposing the problem search space and the method used for placing the particles into the different cooperating swarms. The taxonomy helps in gathering all the proposed models under one roof and understanding the similarities and differences between these models. Secondly, a number of parameters that control the performance of cooperative PSO models are identified. These parameters give answers to the four questions: Which information to share? When to share it? Whom to share it with? and What to do with it? A complete empirical study is conducted on one of the cooperative PSO models in order to understand how the performance changes under the influence of these parameters. Thirdly, a new heterogeneous cooperative PSO model is proposed, which is based on the exchange of probability models rather than the classical migration of particles. The model uses two swarms that combine the ideas of PSO and Estimation of Distribution Algorithms (EDAs) and is considered heterogeneous since the cooperating swarms use different approaches to sample the search space. The model is tested using different PSO models to ensure that the performance is robust against changing the underlying population topology. The experiments show that the model is able to produce better results than its components in many cases. The model also proves to be highly competitive when compared to a number of state-of-the-art cooperative PSO algorithms. Finally, two different versions of the PSO algorithm are applied in the FPGA placement problem. One version is applied entirely in the discrete domain, which is the first attempt to solve this problem in this domain using a discrete PSO (DPSO). Another version is implemented in the continuous domain. The PSO algorithms are applied to several well-known FPGA benchmark problems with increasing dimensionality. The results are compared to those obtained by the academic Versatile Place and Route (VPR) placement tool, which is based on Simulated Annealing (SA). The results show that these methods are competitive for small and medium-sized problems. For higher-sized problems, the methods provide very close results. The work also proposes the use of different cooperative PSO approaches using the two versions and their performances are compared to the single swarm performance

Optimization of intersatellite routing for real-time data download

The objective of this study is to develop a strategy to maximise the available bandwidth to Earth of a satellite constellation through inter-satellite links. Optimal signal routing is achieved by mimicking the way in which ant colonies locate food sources, where the 'ants' are explorative data packets aiming to find a near-optimal route to Earth. Demonstrating the method on a case-study of a space weather monitoring constellation; we show the real-time downloadable rate to Earth