When less is more: Robot swarms adapt better to changes with constrained communication

To effectively perform collective monitoring of dynamic environments, a robot swarm needs to adapt to changes by processing the latest information and discarding outdated beliefs. We show that in a swarm composed of robots relying on local sensing, adaptation is better achieved if the robots have a shorter rather than longer communication range. This result is in contrast with the widespread belief that more communication links always improve the information exchange on a network. We tasked robots with reaching agreement on the best option currently available in their operating environment. We propose a variety of behaviors composed of reactive rules to process environmental and social information. Our study focuses on simple behaviors based on the voter model—a well-known minimal protocol to regulate social interactions—that can be implemented in minimalistic machines. Although different from each other, all behaviors confirm the general result: The ability of the swarm to adapt improves when robots have fewer communication links. The average number of links per robot reduces when the individual communication range or the robot density decreases. The analysis of the swarm dynamics via mean-field models suggests that our results generalize to other systems based on the voter model. Model predictions are confirmed by results of multiagent simulations and experiments with 50 Kilobot robots. Limiting the communication to a local neighborhood is a cheap decentralized solution to allow robot swarms to adapt to previously unknown information that is locally observed by a minority of the robots

Evolutionary robotics and neuroscience

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Bio-inspired Dynamic Control Systems with Time Delays

The world around us exhibits a rich and ever changing environment of startling, bewildering and fascinating complexity. Almost everything is never as simple as it seems, but through the chaos we may catch fleeting glimpses of the mechanisms within. Throughout the history of human endeavour we have mimicked nature to harness it for our own ends. Our attempts to develop truly autonomous and intelligent machines have however struggled with the limitations of our human ability. This has encouraged some to shirk this responsibility and instead model biological processes and systems to do it for us. This Thesis explores the introduction of continuous time delays into biologically inspired dynamic control systems. We seek to exploit rich temporal dynamics found in physical and biological systems for modelling complex or adaptive behaviour through the artificial evolution of networks to control robots. Throughout, arguments have been presented for the modelling of delays not only to better represent key facets of physical and biological systems, but to increase the computational potential of such systems for the synthesis of control. The thorough investigation of the dynamics of small delayed networks with a wide range of time delays has been undertaken, with a detailed mathematical description of the fixed points of the system and possible oscillatory modes developed to fully describe the behaviour of a single node. Exploration of the behaviour for even small delayed networks illustrates the range of complex behaviour possible and guides the development of interesting solutions. To further exploit the potential of the rich dynamics in such systems, a novel approach to the 3D simulation of locomotory robots has been developed focussing on minimising the computational cost. To verify this simulation tool a simple quadruped robot was developed and the motion of the robot when undergoing a manually designed gait evaluated. The results displayed a high degree of agreement between the simulation and laser tracker data, verifying the accuracy of the model developed. A new model of a dynamic system which includes continuous time delays has been introduced, and its utility demonstrated in the evolution of networks for the solution of simple learning behaviours. A range of methods has been developed for determining the time delays, including the novel concept of representing the time delays as related to the distance between nodes in a spatial representation of the network. The application of these tools to a range of examples has been explored, from Gene Regulatory Networks (GRNs) to robot control and neural networks. The performance of these systems has been compared and contrasted with the efficacy of evolutionary runs for the same task over the whole range of network and delay types. It has been shown that delayed dynamic neural systems are at least as capable as traditional Continuous Time Recurrent Neural Networks (CTRNNs) and show significant performance improvements in the control of robot gaits. Experiments in adaptive behaviour, where there is not such a direct link between the enhanced system dynamics and performance, showed no such discernible improvement. Whilst we hypothesise that the ability of such delayed networks to generate switched pattern generating nodes may be useful in Evolutionary Robotics (ER) this was not borne out here. The spatial representation of delays was shown to be more efficient for larger networks, however these techniques restricted the search to lower complexity solutions or led to a significant falloff as the network structure becomes more complex. This would suggest that for anything other than a simple genotype, the direct method for encoding delays is likely most appropriate. With proven benefits for robot locomotion and the open potential for adaptive behaviour delayed dynamic systems for evolved control remain an interesting and promising field in complex systems research

In silico case studies of compliant robots: AMARSI deliverable 3.3

In the deliverable 3.2 we presented how the morphological computing ap- proach can significantly facilitate the control strategy in several scenarios, e.g. quadruped locomotion, bipedal locomotion and reaching. In particular, the Kitty experimental platform is an example of the use of morphological computation to allow quadruped locomotion. In this deliverable we continue with the simulation studies on the application of the different morphological computation strategies to control a robotic system

Living supramolecular polymerization of fluorinated cyclohexanes

The development of powerful methods for living covalent polymerization has been a key driver of progress in organic materials science. While there have been remarkable reports on living supramolecular polymerization recently, the scope of monomers is still narrow and a simple solution to the problem is elusive. Here we report a minimalistic molecular platform for living supramolecular polymerization that is based on the unique structure of all-cis 1,2,3,4,5,6-hexafluorocyclohexane, the most polar aliphatic compound reported to date. We use this large dipole moment (6.2 Debye) not only to thermodynamically drive the self-assembly of supramolecular polymers, but also to generate kinetically trapped monomeric states. Upon addition of well-defined seeds, we observed that the dormant monomers engage in a kinetically controlled supramolecular polymerization. The obtained nanofibers have an unusual double helical structure and their length can be controlled by the ratio between seeds and monomers. The successful preparation of supramolecular block copolymers demonstrates the versatility of the approach

Chromosome packing in cell nuclei : towards understanding of radiation-induced gene translocation frequency

Unlike biodosimetry of sparsely ionizing photons (X and $\gamma$ rays), radiobiology and biodosimetry of densely ionizing (characterized by high linear energy transfer) heavy ions are still relatively poorly developed domains of science, despite a growing role of hadron beams in cancer therapy and an increasing frequency of exposure of humans to cosmic radiation. The most radiosensitive cell structure is the DNA which is responsible for storing genetic information. Interaction of radiation with the DNA leads to the formation of different types of DNA damage, the most severe of which are DNA double-strand breaks (DSBs). Damage to the DNA activates repair processes and their performance may be significantly reduced or stopped if the resulting damage is densely localized (clustered) on the distances of the order of nanometers. Erratic DNA repair leads to changes in the DNA structure causing rearrangements of the genome (chromosome aberrations), possibly resulting in subsequent cell death or induction of cancer. Relating models of chromosome geometry and their spatial position in the nucleus to a characteristic pattern of energy deposition in the biological target by incident radiation (track structure) allows us to predict the frequency and distribution of DSBs, displacement of formed fragments, and probability of translocation of genetic material between pairs of chromosomes. In this work, we analyze results of the biophysical modeling of chromosome packing in the cell nucleus and confront them with cytogenetic experimental data evidenced by the former in vitro studies. In the quest for understanding effects of interphase chromosome geometry on the induction and frequency of chromosome aberrations, we have evaluated two models of the DNA polymer packing within the cell nucleus and validated the predicted exchange of genome with experimental findings