A macroscopic analytical model of collaboration in distributed robotic systems

In this article, we present a macroscopic analytical model of collaboration in a group of reactive robots. The model consists of a series of coupled differential equations that describe the dynamics of group behavior. After presenting the general model, we analyze in detail a case study of collaboration, the stick-pulling experiment, studied experimentally and in simulation by Ijspeert et al. [Autonomous Robots, 11, 149-171]. The robots' task is to pull sticks out of their holes, and it can be successfully achieved only through the collaboration of two robots. There is no explicit communication or coordination between the robots. Unlike microscopic simulations (sensor-based or using a probabilistic numerical model), in which computational time scales with the robot group size, the macroscopic model is computationally efficient, because its solutions are independent of robot group size. Analysis reproduces several qualitative conclusions of Ijspeert et al.: namely, the different dynamical regimes for different values of the ratio of robots to sticks, the existence of optimal control parameters that maximize system performance as a function of group size, and the transition from superlinear to sublinear performance as the number of robots is increased

Evolutionary Robotics: a new scientific tool for studying cognition

We survey developments in Artificial Neural Networks, in Behaviour-based Robotics and Evolutionary Algorithms that set the stage for Evolutionary Robotics in the 1990s. We examine the motivations for using ER as a scientific tool for studying minimal models of cognition, with the advantage of being capable of generating integrated sensorimotor systems with minimal (or controllable) prejudices. These systems must act as a whole in close coupling with their environments which is an essential aspect of real cognition that is often either bypassed or modelled poorly in other disciplines. We demonstrate with three example studies: homeostasis under visual inversion; the origins of learning; and the ontogenetic acquisition of entrainment

Relationship between dynamical heterogeneities and stretched exponential relaxation

We identify the dynamical heterogeneities as an essential prerequisite for stretched exponential relaxation in dynamically frustrated systems. This heterogeneity takes the form of ordered domains of finite but diverging lifetime for particles in atomic or molecular systems, or spin states in magnetic materials. At the onset of the dynamical heterogeneity, the distribution of time intervals spent in such domains or traps becomes stretched exponential at long time. We rigorously show that once this is the case, the autocorrelation function of the renewal process formed by these time intervals is also stretched exponential at long time.Comment: 8 pages, 4 figures, submitted to PR

Social network dynamics of face-to-face interactions

The recent availability of data describing social networks is changing our understanding of the "microscopic structure" of a social tie. A social tie indeed is an aggregated outcome of many social interactions such as face-to-face conversations or phone-calls. Analysis of data on face-to-face interactions shows that such events, as many other human activities, are bursty, with very heterogeneous durations. In this paper we present a model for social interactions at short time scales, aimed at describing contexts such as conference venues in which individuals interact in small groups. We present a detailed anayltical and numerical study of the model's dynamical properties, and show that it reproduces important features of empirical data. The model allows for many generalizations toward an increasingly realistic description of social interactions. In particular in this paper we investigate the case where the agents have intrinsic heterogeneities in their social behavior, or where dynamic variations of the local number of individuals are included. Finally we propose this model as a very flexible framework to investigate how dynamical processes unfold in social networks.Comment: 20 pages, 25 figure