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)

Fundamental structures of dynamic social networks

Social systems are in a constant state of flux with dynamics spanning from minute-by-minute changes to patterns present on the timescale of years. Accurate models of social dynamics are important for understanding spreading of influence or diseases, formation of friendships, and the productivity of teams. While there has been much progress on understanding complex networks over the past decade, little is known about the regularities governing the micro-dynamics of social networks. Here we explore the dynamic social network of a densely-connected population of approximately 1000 individuals and their interactions in the network of real-world person-to-person proximity measured via Bluetooth, as well as their telecommunication networks, online social media contacts, geo-location, and demographic data. These high-resolution data allow us to observe social groups directly, rendering community detection unnecessary. Starting from 5-minute time slices we uncover dynamic social structures expressed on multiple timescales. On the hourly timescale, we find that gatherings are fluid, with members coming and going, but organized via a stable core of individuals. Each core represents a social context. Cores exhibit a pattern of recurring meetings across weeks and months, each with varying degrees of regularity. Taken together, these findings provide a powerful simplification of the social network, where cores represent fundamental structures expressed with strong temporal and spatial regularity. Using this framework, we explore the complex interplay between social and geospatial behavior, documenting how the formation of cores are preceded by coordination behavior in the communication networks, and demonstrating that social behavior can be predicted with high precision.Comment: Main Manuscript: 16 pages, 4 figures. Supplementary Information: 39 pages, 34 figure

DNA-inspired online behavioral modeling and its application to spambot detection

We propose a strikingly novel, simple, and effective approach to model online user behavior: we extract and analyze digital DNA sequences from user online actions and we use Twitter as a benchmark to test our proposal. We obtain an incisive and compact DNA-inspired characterization of user actions. Then, we apply standard DNA analysis techniques to discriminate between genuine and spambot accounts on Twitter. An experimental campaign supports our proposal, showing its effectiveness and viability. To the best of our knowledge, we are the first ones to identify and adapt DNA-inspired techniques to online user behavioral modeling. While Twitter spambot detection is a specific use case on a specific social media, our proposed methodology is platform and technology agnostic, hence paving the way for diverse behavioral characterization tasks

Spatial encoding in primate hippocampus during free navigation.

The hippocampus comprises two neural signals-place cells and θ oscillations-that contribute to facets of spatial navigation. Although their complementary relationship has been well established in rodents, their respective contributions in the primate brain during free navigation remains unclear. Here, we recorded neural activity in the hippocampus of freely moving marmosets as they naturally explored a spatial environment to more explicitly investigate this issue. We report place cells in marmoset hippocampus during free navigation that exhibit remarkable parallels to analogous neurons in other mammalian species. Although θ oscillations were prevalent in the marmoset hippocampus, the patterns of activity were notably different than in other taxa. This local field potential oscillation occurred in short bouts (approximately .4 s)-rather than continuously-and was neither significantly modulated by locomotion nor consistently coupled to place-cell activity. These findings suggest that the relationship between place-cell activity and θ oscillations in primate hippocampus during free navigation differs substantially from rodents and paint an intriguing comparative picture regarding the neural basis of spatial navigation across mammals

SALSA: A Novel Dataset for Multimodal Group Behavior Analysis

Studying free-standing conversational groups (FCGs) in unstructured social settings (e.g., cocktail party ) is gratifying due to the wealth of information available at the group (mining social networks) and individual (recognizing native behavioral and personality traits) levels. However, analyzing social scenes involving FCGs is also highly challenging due to the difficulty in extracting behavioral cues such as target locations, their speaking activity and head/body pose due to crowdedness and presence of extreme occlusions. To this end, we propose SALSA, a novel dataset facilitating multimodal and Synergetic sociAL Scene Analysis, and make two main contributions to research on automated social interaction analysis: (1) SALSA records social interactions among 18 participants in a natural, indoor environment for over 60 minutes, under the poster presentation and cocktail party contexts presenting difficulties in the form of low-resolution images, lighting variations, numerous occlusions, reverberations and interfering sound sources; (2) To alleviate these problems we facilitate multimodal analysis by recording the social interplay using four static surveillance cameras and sociometric badges worn by each participant, comprising the microphone, accelerometer, bluetooth and infrared sensors. In addition to raw data, we also provide annotations concerning individuals' personality as well as their position, head, body orientation and F-formation information over the entire event duration. Through extensive experiments with state-of-the-art approaches, we show (a) the limitations of current methods and (b) how the recorded multiple cues synergetically aid automatic analysis of social interactions. SALSA is available at http://tev.fbk.eu/salsa.Comment: 14 pages, 11 figure

Feedback information and the reward positivity

The reward positivity is a component of the event-related brain potential (ERP) sensitive to neural mechanisms of reward processing. Multiple studies have demonstrated that reward positivity amplitude indices a reward prediction error signal that is fundamental to theories of reinforcement learning. However, whether this ERP component is also sensitive to richer forms of performance information important for supervised learning is less clear. To investigate this question, we recorded the electroencephalogram from participants engaged in a time estimation task in which the type of error information conveyed by feedback stimuli was systematically varied across conditions. Consistent with our predictions, we found that reward positivity amplitude decreased in relation to increasing information content of the feedback, and that reward positivity amplitude was unrelated to trial-to-trial behavioral adjustments in task performance. By contrast, a series of exploratory analyses revealed frontal-central and posterior ERP components immediately following the reward positivity that related to these processes. Taken in the context of the wider literature, these results suggest that the reward positivity is produced by a neural mechanism that motivates task performance, whereas the later ERP components apply the feedback information according to principles of supervised learning