Hybrid Societies : Challenges and Perspectives in the Design of Collective Behavior in Self-organizing Systems

Hybrid societies are self-organizing, collective systems, which are composed of different components, for example, natural and artificial parts (bio-hybrid) or human beings interacting with and through technical systems (socio-technical). Many different disciplines investigate methods and systems closely related to the design of hybrid societies. A stronger collaboration between these disciplines could allow for re-use of methods and create significant synergies. We identify three main areas of challenges in the design of self-organizing hybrid societies. First, we identify the formalization challenge. There is an urgent need for a generic model that allows a description and comparison of collective hybrid societies. Second, we identify the system design challenge. Starting from the formal specification of the system, we need to develop an integrated design process. Third, we identify the challenge of interdisciplinarity. Current research on self-organizing hybrid societies stretches over many different fields and hence requires the re-use and synthesis of methods at intersections between disciplines. We then conclude by presenting our perspective for future approaches with high potential in this area

Engineering self-organizing urban superorganisms

Progresses in ubiquitous, embedded, and social networking and computing make possible for people in urban areas to dynamically interact with each other and with ICT devices around. This can result in a system with a very large number of agents working together in an orchestrated and self-organizing way to achieve specific urban-level goals, i.e., as if they were a “superorganism”. In this paper, we sketch the future vision of urban superorganisms and overview some emerging application areas heading towards the vision. Following, we identify the key challenges in engineering self-organizing multi-agent systems that can work as a superorganism, i.e., seamlessly involving ICT agents and human agents so to achieve some required urban level goals. Finally, we introduce the reference architecture for an infrastructure to support our future vision of self-organizing urban superorganisms

Engineering evolutionary control for real-world robotic systems

Evolutionary Robotics (ER) is the field of study concerned with the application of evolutionary computation to the design of robotic systems. Two main issues have prevented ER from being applied to real-world tasks, namely scaling to complex tasks and the transfer of control to real-robot systems. Finding solutions to complex tasks is challenging for evolutionary approaches due to the bootstrap problem and deception. When the task goal is too difficult, the evolutionary process will drift in regions of the search space with equally low levels of performance and therefore fail to bootstrap. Furthermore, the search space tends to get rugged (deceptive) as task complexity increases, which can lead to premature convergence. Another prominent issue in ER is the reality gap. Behavioral control is typically evolved in simulation and then only transferred to the real robotic hardware when a good solution has been found. Since simulation is an abstraction of the real world, the accuracy of the robot model and its interactions with the environment is limited. As a result, control evolved in a simulator tends to display a lower performance in reality than in simulation. In this thesis, we present a hierarchical control synthesis approach that enables the use of ER techniques for complex tasks in real robotic hardware by mitigating the bootstrap problem, deception, and the reality gap. We recursively decompose a task into sub-tasks, and synthesize control for each sub-task. The individual behaviors are then composed hierarchically. The possibility of incrementally transferring control as the controller is composed allows transferability issues to be addressed locally in the controller hierarchy. Our approach features hybridity, allowing different control synthesis techniques to be combined. We demonstrate our approach in a series of tasks that go beyond the complexity of tasks where ER has been successfully applied. We further show that hierarchical control can be applied in single-robot systems and in multirobot systems. Given our long-term goal of enabling the application of ER techniques to real-world tasks, we systematically validate our approach in real robotic hardware. For one of the demonstrations in this thesis, we have designed and built a swarm robotic platform, and we show the first successful transfer of evolved and hierarchical control to a swarm of robots outside of controlled laboratory conditions.A Robótica Evolutiva (RE) é a área de investigação que estuda a aplicação de computação evolutiva na conceção de sistemas robóticos. Dois principais desafios têm impedido a aplicação da RE em tarefas do mundo real: a dificuldade em solucionar tarefas complexas e a transferência de controladores evoluídos para sistemas robóticos reais. Encontrar soluções para tarefas complexas é desafiante para as técnicas evolutivas devido ao bootstrap problem e à deception. Quando o objetivo é demasiado difícil, o processo evolutivo tende a permanecer em regiões do espaço de procura com níveis de desempenho igualmente baixos, e consequentemente não consegue inicializar. Por outro lado, o espaço de procura tende a enrugar à medida que a complexidade da tarefa aumenta, o que pode resultar numa convergência prematura. Outro desafio na RE é a reality gap. O controlo robótico é tipicamente evoluído em simulação, e só é transferido para o sistema robótico real quando uma boa solução tiver sido encontrada. Como a simulação é uma abstração da realidade, a precisão do modelo do robô e das suas interações com o ambiente é limitada, podendo resultar em controladores com um menor desempenho no mundo real. Nesta tese, apresentamos uma abordagem de síntese de controlo hierárquica que permite o uso de técnicas de RE em tarefas complexas com hardware robótico real, mitigando o bootstrap problem, a deception e a reality gap. Decompomos recursivamente uma tarefa em sub-tarefas, e sintetizamos controlo para cada subtarefa. Os comportamentos individuais são então compostos hierarquicamente. A possibilidade de transferir o controlo incrementalmente à medida que o controlador é composto permite que problemas de transferibilidade possam ser endereçados localmente na hierarquia do controlador. A nossa abordagem permite o uso de diferentes técnicas de síntese de controlo, resultando em controladores híbridos. Demonstramos a nossa abordagem em várias tarefas que vão para além da complexidade das tarefas onde a RE foi aplicada. Também mostramos que o controlo hierárquico pode ser aplicado em sistemas de um robô ou sistemas multirobô. Dado o nosso objetivo de longo prazo de permitir o uso de técnicas de RE em tarefas no mundo real, concebemos e desenvolvemos uma plataforma de robótica de enxame, e mostramos a primeira transferência de controlo evoluído e hierárquico para um exame de robôs fora de condições controladas de laboratório.This work has been supported by the Portuguese Foundation for Science and Technology (Fundação para a Ciência e Tecnologia) under the grants SFRH/BD/76438/2011, EXPL/EEI-AUT/0329/2013, and by Instituto de Telecomunicações under the grant UID/EEA/50008/2013

Towards bio-hybrid systems made of social animals and robots

For making artificial systems collaborate with group-living animals, the scientific challenge is to build artificial systems that can perceive, communicate to, interact with and adapt to animals. When such capabilities are available then it should be possible to built cooperative relationships between artificial systems and animals. Machines In this framework, machines do not replace the living agents but collaborate and bring new capabilities into the resulting mixed group. On the one hand, such artificial systems offer new types of sensors, actuators and communication opportunities for living systems; on the other hand the animals bring their cognitive and biological capabilities into the artificial systems. Novel bio-hybrid modeling frameworks should be developed to streamline the implementation issues and allow for major time saving in the design and building processes of artificial agents. We expect strong impacts on the design of new intelligent systems by merging the best of the living systems with the best of ICT systems

Animal-Robot Interactions: Electrocommunication, Sensory Ecology, and Group Dynamics in a Mormyrid Weakly Electric Fish

Mormyrid weakly electric fish possess a specialized electrosensory system. During the process of active electrolocation, these animals perceive self-generated electric organ dis-charges (EOD) and are thereby able to detect objects in their nearby environment. The EOD is a short, biphasic pulse, which is simultaneously used to communicate with conspe-cifics. There are two principles according to which information exchange occurs during electrocommunication. The waveform of the EOD constitutes a relatively stable identity marker that signals species, gender, and status of an individual. In contrast, the temporal sequence of inter-discharge intervals (IDI) is highly variable and encodes context-specific information. Modifications of IDI-duration not only alter the instantaneous discharge fre-quency but also enable the generation of specific signaling patterns and interactive dis-charge sequences. One such interactive discharge behavior is the so-called echo response, during which a fish responds with a constant latency of only a few milliseconds to the EOD of a conspecific. Animals can synchronize their signaling sequences by mutually generating echoes to each other's signals over a coherent period. Although active electrolocation and electrocommunication are mediated by different types of electroreceptor organs and neural pathways, an unambiguous assignment of electromotor behavior to only one of the two functions is often problematic. In this thesis, the significance of IDI-based signaling sequences during motor and electro-motor interactions of the mormyrid fish Mormyrus rume proboscirostris were investigated. To this end, different electrical playback sequences of species-specific EODs were generated via mobile fish dummies, and the motor and electromotor responses of live fish were analyzed. In Part One of this thesis, electrocommunication strategies of the fish were analyzed, and particularly the functions of double pulses, discharge regularizations, and echo responses were examined in an adaptive context. Double pulses were classified as an aggressive mo-tivation signal, whereas regularizations may have a communicative function during the early stages of the sequential assessment of a potential opponent. In this context, discharge synchronization by means of echo responses may enable a mutual assessment for the net benefit of both contestants. Because echo responses occur in various behavioral contexts, and artificial echoes of the dummy evoked increased echoing by the fish, it was hypothesized that the echo response serves a more general purpose by enabling mutual allocation of social attention between two fish. In Part Two of this thesis, a biomimetic robotic fish was designed to investigate the senso-ry basis on which fish followed the dummy. It was shown that electrical playback signals induced following-behavior in live fish, whereas biomimetic motility patterns had no ef-fect. By subsequently reducing the mobile dummy to only the electric signaling sequence from the perspective of the fish, it could be shown that passive perception of electrical communication signals is also involved in mediating the spatial coordination of social in-teractions. This passive perception is likely mediated by the same electroreceptor organs that are used during electrocommunication. The EOD can therefore be considered to be an essential social stimulus that makes it possible to integrate a dummy into a group of weak-ly electric fish as an artificial conspecific. The influence of an interactively signaling mobile dummy fish on small groups of up to four individuals was investigated in Part Three of this thesis. Typical schooling behavior was a rare occurrence in this context. However, EOD-synchronizations through mutual echo responses between two fish, or between a fish and the interactive dummy, were fre-quently observed during social interactions in small groups. Motor interactions during synchronization episodes supported the hypothesis that mormyrids may use discharge synchronizations between individuals to allocate social attention, and the echo response may thus adopt a particularly useful function during communication in groups.Schwach elektrische Fisch aus der Familie der Mormyriden verfügen über ein spezialisier-tes elektrosensorisches Sinnessystem. In einem Prozess, der als aktive Elektroortung be-zeichnet wird, sind diese Tiere in der Lage, selbstgenerierte elektrische Organentladungen (EOD) wahrzunehmen, und dadurch Objekte in ihrer unmittelbaren Nähe zu detektieren. Das EOD ist ein kurzer bipolarer Puls, der gleichzeitig auch zur Kommunikation mit Artge-nossen dient. Informationsaustausch während der Elektrokommunikation basiert auf zwei verschiedenen Prinzipien: Die Wellenform des EOD stellt einen relativ konstanten Identi-tätsmarker dar, der beispielsweise Art, Geschlecht und Status eines Individuums signali-siert. Die zeitliche Abfolge der Intervalle zwischen den EODs ist hingegen höchst variabel und kodiert kontextspezifische Information. Durch Modifikation der Intervalldauer ändert sich nicht nur die Entladungsfrequenz, sondern es können auch spezifische Signalmuster und interaktive Entladungssequenzen generiert werden. Ein interaktives Entladungsver-halten stellt beispielsweise die Echoantwort dar, bei der ein Fisch mit einer konstanten Latenz von wenigen Millisekunden auf das EOD eines Artgenossen reagiert. Zwei Tiere können ihre Entladungssequenzen synchronisieren, indem sie ihre Signale über einen kohärenten Zeitraum gegenseitig mit Echos beantworten. Obwohl aktive Elektroortung und Elektrokommunikation über unterschiedliche Rezeptororgansysteme und neuronale Pfade vermittelt werden, ist eine eindeutige Zuordnung der elektromotorischen Verhal-tensäußerungen der Fische zu nur einer der beiden Funktionen oft problematisch. In der vorliegenden Arbeit wurde die Bedeutung intervallbasierter EOD-Sequenzen für motorische und elektromotorische Interaktionen des Mormyriden Mormyrus rume proboscirostris erforscht. Hierzu wurden verschiedene elektrische Playbacksequenzen artspezifischer EODs generiert und durch mobile Fischattrappen wiedergegeben. Die mo-torischen und elektromotorischen Verhaltensreaktionen der Fische wurden analysiert. Im ersten Teil der Arbeit wurden Elektrokommunikationsstrategien der Fische analysiert und die adaptive Funktion insbesondere von Doppelpulsen, Entladungsregularisierungen und Echoantworten untersucht. Doppelpulse wurden als aggressives Motivationssignal kategorisiert, wohingegen die Kommunikationsfunktion von Regularisierungen im gegen-seitigen Einschätzen zu Beginn einer kompetitiven Begegnung zu liegen scheint. Entla-dungssynchronisation durch gegenseitige Echoantworten kann dabei eine Einschätzung des Gegenübers zum Vorteil beider Parteien erleichtern. Da Echoantworten in verschiede-nen Verhaltenssituationen auftreten und artifizielle Echoantworten der Attrappe vermehrt zu Echos vonseiten der Fische führten, wurde postuliert, dass die Echoantwort eine generellere Funktion bei der Fokussierung gegenseitiger sozialer Aufmerksamkeit über-nehmen kann. Im zweiten Teil der Arbeit wurde ein biomimetischer Fischroboter konstruiert, um zu untersuchen, auf welcher sensorischen Grundlage die Fische der Attrappe folgen. Es konnte gezeigt werden, dass elektrische Playbacksignale, nicht aber biomimetische Bewe-gungsmuster, Folgeverhalten der Fische induzieren. In einem weiteren Schritt konnte durch die Reduktion der Attrappe auf die elektrischen Signalsequenzen aus der Perspektive der Versuchsfische gezeigt werden, dass passive Wahrnehmung elektrischer Kommu-nikationssignale auch bei der räumlichen Koordination sozialer Interaktionen von Bedeu-tung ist. Dies wird mutmaßlich über die gleichen Rezeptororgane vermittelt, die auch für die Elektrokommunikation verantwortlich sind. Das EOD kann daher als ein soziales Signal betrachtet werden, das es ermöglicht, eine Attrappe als künstlichen Artgenossen in eine Gruppe schwach elektrischer Fische zu integrieren. Der Einfluss einer elektrisch interaktiven mobilen Fischattrappe auf kleine Gruppen von bis zu vier Individuen wurde im dritten Teil der Arbeit getestet. Typisches Schwarmver-halten konnte in diesem Zusammenhang nur selten beobachtet werden. In kleinen Gruppen kam es während sozialer Interaktionen jedoch häufig zu EOD-Synchronisationen durch Echoantworten zwischen zwei Fischen, oder zwischen einem Fisch und der interaktiven Attrappe. Motorische Verhaltensinteraktionen im Zeitraum dieser Synchronisationen stützen die Hypothese, dass Mormyriden durch elektrische Entladungssynchronisation soziale Aufmerksamkeit zwischen Individuen herstellen können, und die Echoantwort somit besonders in Gruppen eine nützliche Kommunikationsfunktion übernehmen kann

Shoaling with fish: using miniature robotic agents to close the interaction loop with groups of zebrafish Danio rerio

Robotic animals are nowadays developed for various types of research, such as bio-inspired robotics, biomimetics and animal behavior studies. The miniaturization of technologies and the increase in performance of embedded systems allowed engineers to develop more powerful, sophisticated and miniature devices. The case of robotic fish is a typical example of such challenging design: the fish locomotion and body movements are difficult to reproduce and the device has to move autonomously underwater. More specifically, in the case of collective animal behavior research, the robotic device has to interact with animals by generating and exploiting signals relevant for social behavior. Once perceived by the animal society as conspecific, these robots can become powerful tools to study the animal behaviors, as they can at the same time monitor the changes in behavior and influence the collective choices of the animal society. In this work, we present novel robotized tools that can integrate shoals of fish in order to study their collective behaviors. This robotic platform is composed of two subsystems: a miniature wheeled mobile robot that can achieve dynamic movements and multi-robot long-duration experiments, and a robotic fish lure that is able to beat its tail to generate fish-like body movements. The two subsystems are coupled with magnets which allows the wheeled mobile robot to steer the robotic fish lure so that it reaches very high speeds and accelerations while achieving shoaling. An experimental setup to conduct studies on mixed societies of artificial and living fish was designed to facilitate the experiments for biologists. A software framework was also implemented to control the robots in a closed-loop using data extracted from visual tracking that retrieved the position of the robots and the fish. We selected the zebrafish Danio rerio as a model to perform experiments to qualify our system. We used the current state of the art on the zebrafish social behavior to define the specifications of the robots, and we performed stimuli analysis to improve their developments. Bio-inspired controllers were designed based on data extracted from experiments with zebrafish for the robots to mimic the zebrafish locomotion underwater. Experiments involving a robot with a shoal of fish in a constrained environment showed that the locomotion of the robot was one of the main factor to affect the collective behavior of zebrafish. We also shown that the body movements and the biomimetic appearance of the lure could increase its acceptance by fish. Finally, an experiment involving a mixed society of fish and robots qualified the robotic system to be integrated among a zebrafish shoal and to be able to influence the collective decisions of the fish. These results are very promising for the field of fish-robot interaction studies, as we showed the effect of the robots in long-duration experiments and repetitively, with the same order of response from the animals