Evolution of swarming behavior is shaped by how predators attack

Animal grouping behaviors have been widely studied due to their implications for understanding social intelligence, collective cognition, and potential applications in engineering, artificial intelligence, and robotics. An important biological aspect of these studies is discerning which selection pressures favor the evolution of grouping behavior. In the past decade, researchers have begun using evolutionary computation to study the evolutionary effects of these selection pressures in predator-prey models. The selfish herd hypothesis states that concentrated groups arise because prey selfishly attempt to place their conspecifics between themselves and the predator, thus causing an endless cycle of movement toward the center of the group. Using an evolutionary model of a predator-prey system, we show that how predators attack is critical to the evolution of the selfish herd. Following this discovery, we show that density-dependent predation provides an abstraction of Hamilton's original formulation of ``domains of danger.'' Finally, we verify that density-dependent predation provides a sufficient selective advantage for prey to evolve the selfish herd in response to predation by coevolving predators. Thus, our work corroborates Hamilton's selfish herd hypothesis in a digital evolutionary model, refines the assumptions of the selfish herd hypothesis, and generalizes the domain of danger concept to density-dependent predation.Comment: 25 pages, 11 figures, 5 tables, including 2 Supplementary Figures. Version to appear in "Artificial Life

Proceedings of the ECCS 2005 satellite workshop: embracing complexity in design - Paris 17 November 2005

Embracing complexity in design is one of the critical issues and challenges of the 21st century. As the realization grows that design activities and artefacts display properties associated with complex adaptive systems, so grows the need to use complexity concepts and methods to understand these properties and inform the design of better artifacts. It is a great challenge because complexity science represents an epistemological and methodological swift that promises a holistic approach in the understanding and operational support of design. But design is also a major contributor in complexity research. Design science is concerned with problems that are fundamental in the sciences in general and complexity sciences in particular. For instance, design has been perceived and studied as a ubiquitous activity inherent in every human activity, as the art of generating hypotheses, as a type of experiment, or as a creative co-evolutionary process. Design science and its established approaches and practices can be a great source for advancement and innovation in complexity science. These proceedings are the result of a workshop organized as part of the activities of a UK government AHRB/EPSRC funded research cluster called Embracing Complexity in Design (www.complexityanddesign.net) and the European Conference in Complex Systems (complexsystems.lri.fr). Embracing complexity in design is one of the critical issues and challenges of the 21st century. As the realization grows that design activities and artefacts display properties associated with complex adaptive systems, so grows the need to use complexity concepts and methods to understand these properties and inform the design of better artifacts. It is a great challenge because complexity science represents an epistemological and methodological swift that promises a holistic approach in the understanding and operational support of design. But design is also a major contributor in complexity research. Design science is concerned with problems that are fundamental in the sciences in general and complexity sciences in particular. For instance, design has been perceived and studied as a ubiquitous activity inherent in every human activity, as the art of generating hypotheses, as a type of experiment, or as a creative co-evolutionary process. Design science and its established approaches and practices can be a great source for advancement and innovation in complexity science. These proceedings are the result of a workshop organized as part of the activities of a UK government AHRB/EPSRC funded research cluster called Embracing Complexity in Design (www.complexityanddesign.net) and the European Conference in Complex Systems (complexsystems.lri.fr)

An Individual-based Probabilistic Model for Fish Stock Simulation

We define an individual-based probabilistic model of a sole (Solea solea) behaviour. The individual model is given in terms of an Extended Probabilistic Discrete Timed Automaton (EPDTA), a new formalism that is introduced in the paper and that is shown to be interpretable as a Markov decision process. A given EPDTA model can be probabilistically model-checked by giving a suitable translation into syntax accepted by existing model-checkers. In order to simulate the dynamics of a given population of soles in different environmental scenarios, an agent-based simulation environment is defined in which each agent implements the behaviour of the given EPDTA model. By varying the probabilities and the characteristic functions embedded in the EPDTA model it is possible to represent different scenarios and to tune the model itself by comparing the results of the simulations with real data about the sole stock in the North Adriatic sea, available from the recent project SoleMon. The simulator is presented and made available for its adaptation to other species.Comment: In Proceedings AMCA-POP 2010, arXiv:1008.314

Swarm robot social potential fields with internal agent dynamics

Swarm robotics is a new and promising approach to the design and control of multiagent robotic systems. In this paper we use a model for a second order non-linear system of self-propelled agents interacting via pair-wise attractive and repulsive potentials. We propose a new potential field method using dynamic agent internal states to successfully solve a reactive path-planning problem. The path planning problem cannot be solved using static potential fields due to local minima formation, but can be solved by allowing the agent internal states to manipulate the potential field. Simulation results demonstrate the ability of a single agent to perform reactive problem solving effectively, as well as the ability of a swarm of agents to perform problem solving using the collective behaviour of the entire swarm

Constructing living buildings: a review of relevant technologies for a novel application of biohybrid robotics

Biohybrid robotics takes an engineering approach to the expansion and exploitation of biological behaviours for application to automated tasks. Here, we identify the construction of living buildings and infrastructure as a high-potential application domain for biohybrid robotics, and review technological advances relevant to its future development. Construction, civil infrastructure maintenance and building occupancy in the last decades have comprised a major portion of economic production, energy consumption and carbon emissions. Integrating biological organisms into automated construction tasks and permanent building components therefore has high potential for impact. Live materials can provide several advantages over standard synthetic construction materials, including self-repair of damage, increase rather than degradation of structural performance over time, resilience to corrosive environments, support of biodiversity, and mitigation of urban heat islands. Here, we review relevant technologies, which are currently disparate. They span robotics, self-organizing systems, artificial life, construction automation, structural engineering, architecture, bioengineering, biomaterials, and molecular and cellular biology. In these disciplines, developments relevant to biohybrid construction and living buildings are in the early stages, and typically are not exchanged between disciplines. We, therefore, consider this review useful to the future development of biohybrid engineering for this highly interdisciplinary application.publishe

Listen, Attend, and Walk: Neural Mapping of Navigational Instructions to Action Sequences

We propose a neural sequence-to-sequence model for direction following, a task that is essential to realizing effective autonomous agents. Our alignment-based encoder-decoder model with long short-term memory recurrent neural networks (LSTM-RNN) translates natural language instructions to action sequences based upon a representation of the observable world state. We introduce a multi-level aligner that empowers our model to focus on sentence "regions" salient to the current world state by using multiple abstractions of the input sentence. In contrast to existing methods, our model uses no specialized linguistic resources (e.g., parsers) or task-specific annotations (e.g., seed lexicons). It is therefore generalizable, yet still achieves the best results reported to-date on a benchmark single-sentence dataset and competitive results for the limited-training multi-sentence setting. We analyze our model through a series of ablations that elucidate the contributions of the primary components of our model.Comment: To appear at AAAI 2016 (and an extended version of a NIPS 2015 Multimodal Machine Learning workshop paper

Swarm potential fields with internal agent states and collective behaviour

Swarm robotics is a new and promising approach to the design and control of multi-agent robotic systems. In this paper we use a model for a system of self-propelled agents interacting via pairwise attractive and repulsive potentials. We develop a new potential field method using dynamic agent internal states, allowing the swarm agents' internal states to manipulate the potential field. This new method successfully solves a reactive path planning problem that cannot be solved using static potential fields due to local minima formation. Simulation results demonstrate the ability of a swarm of agents that use the model to perform reactive problem solving effectively using the collective behaviour of the entire swarm in a way that matches studies based on real animal group behaviour