Swarm intelligence: novel tools for optimization, feature extraction, and multi-agent system modeling

Abstract Animal swarms in nature are able to adapt to dynamic changes in their envi-ronment, and through cooperation they can solve problems that are crucial for their survival. Only by means of local interactions with other members of the swarm and with the environment, they can achieve a common goal more efficiently than it would be done by a single individual. This problem-solving behavior that results from the multiplicity of such interactions is referred to as Swarm Intelligence. The mathematical models of swarming behavior in nature were initially proposed to solve optimization problems. Nevertheless, this decentralized approach can be a valuable tool for a variety of applications, where emerging global patterns represent a solution to the task at hand. Methods for the solution of difficult computational problems based on Swarm Intelligence have been experimentally demonstrated and reported in the literature. However, a general framework that would facilitate their design does not exist yet. In this dissertation, a new general design methodology for Swarm Intelligence tools is proposed. By defining a discrete space in which the members of the swarm can move, and by modifying the rules of local interactions and setting the adequate objective function for solutions evaluation, the proposed methodology is tested in various domains. The dissertation presents a set of case studies, and focuses on two general approaches. One approach is to apply Swarm Intelligence as a tool for optimization and feature extraction, and the other approach is to model multi-agent systems such that they resemble swarms of animals in nature providing them with the ability to autonomously perform a task at hand. Artificial swarms are designed to be autonomous, scalable, robust, and adaptive to the changes in their environment. In this work, the methods that exploit one or more of these features are presented. First, the proposed methodology is validated in a real-world scenario seen as a combinatorial optimization problem. Then a set of novel tools for feature extraction, more precisely the adaptive edge detection and the broken-edge linking in digital images is proposed. A novel data clustering algorithm is also proposed and applied to image segmentation. Finally, a scalable algorithm based on the proposed methodology is developed for distributed task allocation in multi-agent systems, and applied to a swarm of robots. The newly proposed general methodology provides a guideline for future developers of the Swarm Intelligence tools. Los enjambres de animales en la naturaleza son capaces de adaptarse a cambios dinamicos en su entorno y, por medio de la cooperación, pueden resolver problemas ´ cruciales para su supervivencia. Unicamente por medio de interacciones locales con otros miembros del enjambre y con el entorno, pueden lograr un objetivo común de forma más eficiente que lo haría un solo individuo. Este comportamiento problema-resolutivo que es resultado de la multiplicidad de interacciones se denomina Inteligencia de Enjambre. Los modelos matemáticos de comportamiento de enjambres en entornos naturales fueron propuestos inicialmente para resolver problemas de optimización. Sin embargo, esta aproximación descentralizada puede ser una herramienta valiosa en una variedad de aplicaciones donde patrones globales emergentes representan una solución de las tareas actuales. Aunque en la literatura se muestra la utilidad de los métodos de Inteligencia de Enjambre, no existe un entorno de trabajo que facilite su diseño. En esta memoria de tesis proponemos una nueva metodologia general de diseño para herramientas de Inteligencia de Enjambre. Desarrollamos herramientas noveles que representan ejem-plos ilustrativos de su implementación. Probamos la metodología propuesta en varios dominios definiendo un espacio discreto en el que los miembros del enjambre pueden moverse, modificando las reglas de las interacciones locales y fijando la función objetivo adecuada para evaluar las soluciones. La memoria de tesis presenta un conjunto de casos de estudio y se centra en dos aproximaciones generales. Una aproximación es aplicar Inteligencia de Enjambre como herramienta de optimización y extracción de características mientras que la otra es modelar sistemas multi-agente de tal manera que se asemejen a enjambres de animales en la naturaleza a los que se les confiere la habilidad de ejecutar autónomamente la tarea. Los enjambres artificiales están diseñados para ser autónomos, escalables, robustos y adaptables a los cambios en su entorno. En este trabajo, presentamos métodos que explotan una o más de estas características. Primero, validamos la metodología propuesta en un escenario del mundo real visto como un problema de optimización combinatoria. Después, proponemos un conjunto de herramientas noveles para ex-tracción de características, en concreto la detección adaptativa de bordes y el enlazado de bordes rotos en imágenes digitales, y el agrupamiento de datos para segmentación de imágenes. Finalmente, proponemos un algoritmo escalable para la asignación distribuida de tareas en sistemas multi-agente aplicada a enjambres de robots. La metodología general recién propuesta ofrece una guía para futuros desarrolladores deherramientas de Inteligencia de Enjambre

Assessing the detectability of European spruce bark beetle green attack in multispectral drone images with high spatial- and temporal resolutions

Detecting disease- or insect-infested forests as early as possible is a classic application of remote sensing. Under conditions of climate change and global warming, outbreaks of the European spruce bark beetle (Ips typographus, L.) are threatening spruce forests and the related timber industry across Europe, and early detection of infestations is important for damage control. Infested trees without visible discoloration (green attack) have been identified using multispectral images, but how early green attacks can be detected is still unknown. This study aimed to determine when infested trees start to show an abnormal spectral response compared with healthy trees, and to quantify the detectability of infested trees during the infestation process. Pheromone bags were used to attract bark beetles in a controlled experiment, and subsequent infestations were assessed in the field on a weekly basis. In total, 977 trees were monitored, including 208 attacked trees. Multispectral drone images were obtained before and during the insect attacks, representing different periods of infestation. Individual tree crowns (ITC) were delineated by marker-controlled watershed segmentation, and the average reflectance of ITCs was analyzed based on the duration of infestation. The detectability of green attacks and driving factors were examined. We propose new Multiple Ratio Disease-Water Stress Indices (MR-DSWIs) as vegetation indices (VI) for detecting infestations. We defined a VI range of 5-95% as a healthy tree, and a VI value outside that range as an infested tree. Detection rates using multispectral images were always higher than discoloration rates observed in the field, and the newly proposed MR-DSWIs detected more infested trees than the established VIs. Infestations were detectable at 5 and 10 weeks after an attack at a rate of 15% and 90%, respectively, from the multispectral drone images. Weeks 5-10 of infestation therefore represent a suitable period for using the proposed methodology to map infestation at an early stage

Shared behavioral mechanisms underlie <i>C. elegans</i> aggregation and swarming

In complex biological systems, simple individual-level behavioral rules can give rise to emergent group-level behavior. While collective behavior has been well studied in cells and larger organisms, the mesoscopic scale is less understood, as it is unclear which sensory inputs and physical processes matter a priori. Here, we investigate collective feeding in the roundworm C. elegans at this intermediate scale, using quantitative phenotyping and agent-based modeling to identify behavioral rules underlying both aggregation and swarming—a dynamic phenotype only observed at longer timescales. Using fluorescence multi-worm tracking, we quantify aggregation in terms of individual dynamics and population-level statistics. Then we use agent-based simulations and approximate Bayesian inference to identify three key behavioral rules for aggregation: cluster-edge reversals, a density-dependent switch between crawling speeds, and taxis towards neighboring worms. Our simulations suggest that swarming is simply driven by local food depletion but otherwise employs the same behavioral mechanisms as the initial aggregation

Asymmetric ephaptic inhibition between compartmentalized olfactory receptor neurons.

In the Drosophila antenna, different subtypes of olfactory receptor neurons (ORNs) housed in the same sensory hair (sensillum) can inhibit each other non-synaptically. However, the mechanisms underlying this underexplored form of lateral inhibition remain unclear. Here we use recordings from pairs of sensilla impaled by the same tungsten electrode to demonstrate that direct electrical ("ephaptic") interactions mediate lateral inhibition between ORNs. Intriguingly, within individual sensilla, we find that ephaptic lateral inhibition is asymmetric such that one ORN exerts greater influence onto its neighbor. Serial block-face scanning electron microscopy of genetically identified ORNs and circuit modeling indicate that asymmetric lateral inhibition reflects a surprisingly simple mechanism: the physically larger ORN in a pair corresponds to the dominant neuron in ephaptic interactions. Thus, morphometric differences between compartmentalized ORNs account for highly specialized inhibitory interactions that govern information processing at the earliest stages of olfactory coding

A deep learning-based pipeline for whitefly pest abundance estimation on chromotropic sticky traps

Integrated Pest Management (IPM) is an essential approach used in smart agriculture to manage pest populations and sustainably optimize crop production. One of the cornerstones underlying IPM solutions is pest monitoring, a practice often performed by farm owners by using chromotropic sticky traps placed on insect hot spots to gauge pest population densities. In this paper, we propose a modular model-agnostic deep learning-based counting pipeline for estimating the number of insects present in pictures of chromotropic sticky traps, thus reducing the need for manual trap inspections and minimizing human effort. Additionally, our solution generates a set of raw positions of the counted insects and confidence scores expressing their reliability, allowing practitioners to filter out unreliable predictions. We train and assess our technique by exploiting PST - Pest Sticky Traps, a new collection of dot-annotated images we created on purpose and we publicly release, suitable for counting whiteflies. Experimental evaluation shows that our proposed counting strategy can be a valuable Artificial Intelligence-based tool to help farm owners to control pest outbreaks and prevent crop damages effectively. Specifically, our solution achieves an average counting error of approximately compared to human capabilities requiring a matter of seconds, a large improvement respecting the time-intensive process of manual human inspections, which often take hours or even days

Computational intelligence approaches to robotics, automation, and control [Volume guest editors]

No abstract available