851 research outputs found
Dynamical strategies for obstacle avoidance during Dictyostelium discoideum aggregation: a Multi-agent system model
Chemotaxis, the movement of an organism in response to chemical stimuli, is a
typical feature of many microbiological systems. In particular, the social
amoeba \textit{Disctyostelium discoideum} is widely used as a model organism,
but it is not still clear how it behaves in heterogeneous environments. A few
models focusing on mechanical features have already addressed the question;
however, we suggest that phenomenological models focusing on the population
dynamics may provide new meaningful data. Consequently, by means of a specific
Multi-agent system model, we study the dynamical features emerging from complex
social interactions among individuals belonging to amoeba colonies.\\ After
defining an appropriate metric to quantitatively estimate the gathering
process, we find that: a) obstacles play the role of local topological
perturbation, as they alter the flux of chemical signals; b) physical obstacles
(blocking the cellular motion and the chemical flux) and purely chemical
obstacles (only interfering with chemical flux) elicit similar dynamical
behaviors; c) a minimal program for robustly gathering simulated cells does not
involve mechanisms for obstacle sensing and avoidance; d) fluctuations of the
dynamics concur in preventing multiple stable clusters. Comparing those
findings with previous results, we speculate about the fact that chemotactic
cells can avoid obstacles by simply following the altered chemical gradient.
Social interactions are sufficient to guarantee the aggregation of the whole
colony past numerous obstacles
COORDINATION OF LEADER-FOLLOWER MULTI-AGENT SYSTEM WITH TIME-VARYING OBJECTIVE FUNCTION
This thesis aims to introduce a new framework for the distributed control of multi-agent systems with adjustable swarm control objectives. Our goal is twofold: 1) to provide an overview to how time-varying objectives in the control of autonomous systems may be applied to the distributed control of multi-agent systems with variable autonomy level, and 2) to introduce a framework to incorporate the proposed concept to fundamental swarm behaviors such as aggregation and leader tracking. Leader-follower multi-agent systems are considered in this study, and a general form of time-dependent artificial potential function is proposed to describe the varying objectives of the system in the case of complete information exchange. Using Lyapunov methods, the stability and boundedness of the agents\u27 trajectories under single order and higher order dynamics are analyzed. Illustrative numerical simulations are presented to demonstrate the validity of our results. Then, we extend these results for multi-agent systems with limited information exchange and switching communication topology. The first steps of the realization of an experimental framework have been made with the ultimate goal of verifying the simulation results in practice
Towards Swarm Calculus: Urn Models of Collective Decisions and Universal Properties of Swarm Performance
Methods of general applicability are searched for in swarm intelligence with
the aim of gaining new insights about natural swarms and to develop design
methodologies for artificial swarms. An ideal solution could be a `swarm
calculus' that allows to calculate key features of swarms such as expected
swarm performance and robustness based on only a few parameters. To work
towards this ideal, one needs to find methods and models with high degrees of
generality. In this paper, we report two models that might be examples of
exceptional generality. First, an abstract model is presented that describes
swarm performance depending on swarm density based on the dichotomy between
cooperation and interference. Typical swarm experiments are given as examples
to show how the model fits to several different results. Second, we give an
abstract model of collective decision making that is inspired by urn models.
The effects of positive feedback probability, that is increasing over time in a
decision making system, are understood by the help of a parameter that controls
the feedback based on the swarm's current consensus. Several applicable
methods, such as the description as Markov process, calculation of splitting
probabilities, mean first passage times, and measurements of positive feedback,
are discussed and applications to artificial and natural swarms are reported
A formal approach to autonomic systems programming: the SCEL Language
The autonomic computing paradigm has been proposed to cope with size, complexity and dynamism of contemporary
software-intensive systems. The challenge for language designers is to devise appropriate abstractions
and linguistic primitives to deal with the large dimension of systems, and with their need to
adapt to the changes of the working environment and to the evolving requirements. We propose a set of
programming abstractions that permit to represent behaviors, knowledge and aggregations according to
specific policies, and to support programming context-awareness, self-awareness and adaptation. Based on
these abstractions, we define SCEL (Software Component Ensemble Language), a kernel language whose
solid semantic foundations lay also the basis for formal reasoning on autonomic systems behavior. To show
expressiveness and effectiveness of SCEL’s design, we present a Java implementation of the proposed abstractions
and show how it can be exploited for programming a robotics scenario that is used as a running
example for describing features and potentials of our approac
Internet of robotic things : converging sensing/actuating, hypoconnectivity, artificial intelligence and IoT Platforms
The Internet of Things (IoT) concept is evolving rapidly and influencing newdevelopments in various application domains, such as the Internet of MobileThings (IoMT), Autonomous Internet of Things (A-IoT), Autonomous Systemof Things (ASoT), Internet of Autonomous Things (IoAT), Internetof Things Clouds (IoT-C) and the Internet of Robotic Things (IoRT) etc.that are progressing/advancing by using IoT technology. The IoT influencerepresents new development and deployment challenges in different areassuch as seamless platform integration, context based cognitive network integration,new mobile sensor/actuator network paradigms, things identification(addressing, naming in IoT) and dynamic things discoverability and manyothers. The IoRT represents new convergence challenges and their need to be addressed, in one side the programmability and the communication ofmultiple heterogeneous mobile/autonomous/robotic things for cooperating,their coordination, configuration, exchange of information, security, safetyand protection. Developments in IoT heterogeneous parallel processing/communication and dynamic systems based on parallelism and concurrencyrequire new ideas for integrating the intelligent “devices”, collaborativerobots (COBOTS), into IoT applications. Dynamic maintainability, selfhealing,self-repair of resources, changing resource state, (re-) configurationand context based IoT systems for service implementation and integrationwith IoT network service composition are of paramount importance whennew “cognitive devices” are becoming active participants in IoT applications.This chapter aims to be an overview of the IoRT concept, technologies,architectures and applications and to provide a comprehensive coverage offuture challenges, developments and applications
Three Cases of Connectivity and Global Information Transfer in Robot Swarms
In this work we consider three different cases of robot-robot interactions
and resulting global information transfer in robot swarms. These mechanisms
define cooperative properties of the system and can be used for designing
collective behavior. These three cases are demonstrated and discussed based on
experiments in a swarm of microrobots "Jasmine"
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