226 research outputs found
Logistic Constraints on 3D Termite Construction
Abstract. The building behaviour of termites has previously been modelled mathematically in two dimensions. However, physical and logistic constraints were not taken into account in these models. Here, we develop and test a three-dimensional agent-based model of this process that places realistic constraints on the diffusion of pheromones, the movement of termites, and the integrity of the architecture that they construct. The following scenarios are modelled: the use of a pheromone template in the construction of a simple royal chamber, the effect of wind on this process, and the construction of covered pathways. We consider the role of the third dimension and the effect of logistic constraints on termite behaviour and, reciprocally, the structures that they create. For instance, when agents find it difficult to reach some elevated or exterior areas of the growing structure, building proceeds at a reduced rate in these areas, ultimately influencing the range of termite-buildable architectures
Hydrodynamic fluctuations and instabilities in ordered suspensions of self-propelled particles
We construct the hydrodynamic equations for {\em suspensions} of
self-propelled particles (SPPs) with spontaneous orientational order, and make
a number of striking, testable predictions:(i) SPP suspensions with the
symmetry of a true {\em nematic} are {\em always} absolutely unstable at long
wavelengths.(ii) SPP suspensions with {\em polar}, i.e., head-tail {\em
asymmetric}, order support novel propagating modes at long wavelengths,
coupling orientation, flow, and concentration. (iii) In a wavenumber regime
accessible only in low Reynolds number systems such as bacteria, polar-ordered
suspensions are invariably convectively unstable.(iv) The variance in the
number N of particles, divided by the mean , diverges as in
polar-ordered SPP suspensions.Comment: submitted to Phys Rev Let
Multi-agent simulation as a tool for modeling societies: Application to social differentiation in ant colonies
Orthogonal methods based ant colony search for solving continuous optimization problems
Research into ant colony algorithms for solving continuous optimization problems forms one of the most
significant and promising areas in swarm computation. Although traditional ant algorithms are designed for combinatorial
optimization, they have shown great potential in solving a wide range of optimization problems, including continuous
optimization. Aimed at solving continuous problems effectively, this paper develops a novel ant algorithm termed "continuous orthogonal ant colony" (COAC), whose pheromone deposit mechanisms would enable ants to search for
solutions collaboratively and effectively. By using the orthogonal design method, ants in the feasible domain can explore
their chosen regions rapidly and e±ciently. By implementing an "adaptive regional radius" method, the proposed
algorithm can reduce the probability of being trapped in local optima and therefore enhance the global search capability and accuracy. An elitist strategy is also employed to reserve the most valuable points. The performance of the COAC is
compared with two other ant algorithms for continuous optimization of API and CACO by testing seventeen functions
in the continuous domain. The results demonstrate that the proposed COAC algorithm outperforms the others
Individual rules for trail pattern formation in Argentine ants (Linepithema humile)
We studied the formation of trail patterns by Argentine ants exploring an
empty arena. Using a novel imaging and analysis technique we estimated
pheromone concentrations at all spatial positions in the experimental arena and
at different times. Then we derived the response function of individual ants to
pheromone concentrations by looking at correlations between concentrations and
changes in speed or direction of the ants. Ants were found to turn in response
to local pheromone concentrations, while their speed was largely unaffected by
these concentrations. Ants did not integrate pheromone concentrations over
time, with the concentration of pheromone in a 1 cm radius in front of the ant
determining the turning angle. The response to pheromone was found to follow a
Weber's Law, such that the difference between quantities of pheromone on the
two sides of the ant divided by their sum determines the magnitude of the
turning angle. This proportional response is in apparent contradiction with the
well-established non-linear choice function used in the literature to model the
results of binary bridge experiments in ant colonies (Deneubourg et al. 1990).
However, agent based simulations implementing the Weber's Law response function
led to the formation of trails and reproduced results reported in the
literature. We show analytically that a sigmoidal response, analogous to that
in the classical Deneubourg model for collective decision making, can be
derived from the individual Weber-type response to pheromone concentrations
that we have established in our experiments when directional noise around the
preferred direction of movement of the ants is assumed.Comment: final version, 9 figures, submitted to Plos Computational Biology
(accepted
SWARM Robotics: A Different Approach to Service Robotics
Service robotics, as it has been intended so far, views the accomplishment of a service mission mainly as the result of the action of a single robot. Swarm robotics tackles the very same problem from a different stance, \\ie as the result of a team effort of simple units. The project described here shows this particular approach. It defines first one simple unit (s-bot) capable of independently moving about on the ground and of dynamically establishing rigid or semi-rigid connections with other fellow units, and then it shows how a large group of them can, as a whole entity (swarm-bot), carry out a given task. Thanks to the ductility in assembling and forming its connections, a swarm-bot can readily cope with occasional failures of some components and promptly reshape the remaining swarm so as to replace the role of the failing units. Given such a plasticity, their possible applications is rather large ranging from harsh environment exploration to goods harvesting or goods transportation. At the moment, the project is at the stage of having defined a first simulating environment to be used both for the on-going hardware design and for the software control. The present paper describes this particular aspect of the project
SWARM-BOT: Pattern Formation in a Swarm of Self-Assembling Mobile Robots
In this paper we introduce a new robotic system, called swarm-bot. The system consists of a swarm of mobile robots with the ability to connect to/disconnect from each other to self-assemble into different kinds of structures. First, we describe our vision and the goals of the project. Then we present preliminary results on the formation of patterns obtained from a grid-world simulation of the system
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