Physics-Based Swarm Intelligence for Disaster Relief Communications

This study explores how a swarm of aerial mobile vehicles can provide network connectivity and meet the stringent requirements of public protection and disaster relief operations. In this context, we design a physics-based controlled mobility strategy, which we name the extended Virtual Force Protocol (VFPe), allowing self-propelled nodes, and in particular here unmanned aerial vehicles, to fly autonomously and cooperatively. In this way, ground devices scattered on the operation site may establish communications through the wireless multi-hop communication routes formed by the network of aerial nodes. We further investigate through simulations the behavior of the VFPe protocol, notably focusing on the way node location information is disseminated into the network as well as on the impact of the number of exploration nodes on the overall network performance.Comment: in International Conference on Ad Hoc Networks and Wireless, Jul 2016, Lille, Franc

Sensor networks security based on sensitive robots agents. A conceptual model

Multi-agent systems are currently applied to solve complex problems. The security of networks is an eloquent example of a complex and difficult problem. A new model-concept Hybrid Sensitive Robot Metaheuristic for Intrusion Detection is introduced in the current paper. The proposed technique could be used with machine learning based intrusion detection techniques. The new model uses the reaction of virtual sensitive robots to different stigmergic variables in order to keep the tracks of the intruders when securing a sensor network.Comment: 5 page

Deaf, Dumb, and Chatting Robots, Enabling Distributed Computation and Fault-Tolerance Among Stigmergic Robot

We investigate ways for the exchange of information (explicit communication) among deaf and dumb mobile robots scattered in the plane. We introduce the use of movement-signals (analogously to flight signals and bees waggle) as a mean to transfer messages, enabling the use of distributed algorithms among the robots. We propose one-to-one deterministic movement protocols that implement explicit communication. We first present protocols for synchronous robots. We begin with a very simple coding protocol for two robots. Based on on this protocol, we provide one-to-one communication for any system of n \geq 2 robots equipped with observable IDs that agree on a common direction (sense of direction). We then propose two solutions enabling one-to-one communication among anonymous robots. Since the robots are devoid of observable IDs, both protocols build recognition mechanisms using the (weak) capabilities offered to the robots. The first protocol assumes that the robots agree on a common direction and a common handedness (chirality), while the second protocol assumes chirality only. Next, we show how the movements of robots can provide implicit acknowledgments in asynchronous systems. We use this result to design asynchronous one-to-one communication with two robots only. Finally, we combine this solution with the schemes developed in synchronous settings to fit the general case of asynchronous one-to-one communication among any number of robots. Our protocols enable the use of distributing algorithms based on message exchanges among swarms of Stigmergic robots. Furthermore, they provides robots equipped with means of communication to overcome faults of their communication device

Stigmergic epistemology, stigmergic cognition

To know is to cognize, to cognize is to be a culturally bounded, rationality-bounded and environmentally located agent. Knowledge and cognition are thus dual aspects of human sociality. If social epistemology has the formation, acquisition, mediation, transmission and dissemination of knowledge in complex communities of knowers as its subject matter, then its third party character is essentially stigmergic. In its most generic formulation, stigmergy is the phenomenon of indirect communication mediated by modifications of the environment. Extending this notion one might conceive of social stigmergy as the extra-cranial analog of an artificial neural network providing epistemic structure. This paper recommends a stigmergic framework for social epistemology to account for the supposed tension between individual action, wants and beliefs and the social corpora. We also propose that the so-called "extended mind" thesis offers the requisite stigmergic cognitive analog to stigmergic knowledge. Stigmergy as a theory of interaction within complex systems theory is illustrated through an example that runs on a particle swarm optimization algorithm

Stigmergy in comparative settlement choice and palaeoenvironment simulation

Decisions on settlement location in the face of climate change and coastal inundation may have resulted in success, survival or even catastrophic failure for early settlers in many parts of the world. In this study, we investigate various questions related to how individuals respond to a palaeoenvironmental simulation, on an interactive tabletop device where participants have the opportunity to build a settlement on a coastal land- scape, balancing safety, and access to resources, including sea and terrestrial foodstuffs, while taking into con- sideration the threat of rising sea levels. The results of the study were analyzed to consider whether decisions on settlement were predicated to be near to locations where previous structures were located, stigmergically, and whether later settler choice would fare better, and score higher, as time progressed. The proximity of settlements was investigated and the reasons for clustering were considered. The interactive simulation was exhibited to thousands of visitors at the 2012 Royal Society Summer Science Exhibition at the ‘‘Europe’s Lost World’’ exhibit. 347 participants contributed to the simulation, providing a sufficiently large sample of data for analysis

Response Ant Colony Optimization of End Milling Surface Roughness

Metal cutting processes are important due to increased consumer demands for quality metal cutting related products (more precise tolerances and better product surface roughness) that has driven the metal cutting industry to continuously improve quality control of metal cutting processes. This paper presents optimum surface roughness by using milling mould aluminium alloys (AA6061-T6) with Response Ant Colony Optimization (RACO). The approach is based on Response Surface Method (RSM) and Ant Colony Optimization (ACO). The main objectives to find the optimized parameters and the most dominant variables (cutting speed, feedrate, axial depth and radial depth). The first order model indicates that the feedrate is the most significant factor affecting surface roughness

A hexamer origin of the echinoderms' five rays

Of the major deuterostome groups, the echinoderms with their multiple forms and complex development are arguably the most mysterious. Although larval echinoderms are bilaterally symmetric, the adult body seems to abandon the larval body plan and to develop independently a new structure with different symmetries. The prevalent pentamer structure, the asymmetry of Loven's rule and the variable location of the periproct and madrepore present enormous difficulties in homologizing structures across the major clades, despite the excellent fossil record. This irregularity in body forms seems to place echinoderms outside the other deuterostomes. Here I propose that the predominant five-ray structure is derived from a hexamer structure that is grounded directly in the structure of the bilaterally symmetric larva. This hypothesis implies that the adult echinoderm body can be derived directly from the larval bilateral symmetry and thus firmly ranks even the adult echinoderms among the bilaterians. In order to test the hypothesis rigorously, a model is developed in which one ray is missing between rays IV-V (Loven's schema) or rays C-D (Carpenter's schema). The model is used to make predictions, which are tested and verified for the process of metamorphosis and for the morphology of recent and fossil forms. The theory provides fundamental insight into the M-plane and the Ubisch', Loven's and Carpenter's planes and generalizes them for all echinoderms. The theory also makes robust predictions about the evolution of the pentamer structure and its developmental basis. *** including corrections (see footnotes) ***Comment: 10 pages, 6 figure

Ants in a Labyrinth: A Statistical Mechanics Approach to the Division of Labour

Division of labour (DoL) is a fundamental organisational principle in human societies, within virtual and robotic swarms and at all levels of biological organisation. DoL reaches a pinnacle in the insect societies where the most widely used model is based on variation in response thresholds among individuals, and the assumption that individuals and stimuli are well-mixed. Here, we present a spatially explicit model of DoL. Our model is inspired by Pierre de Gennes' 'Ant in a Labyrinth' which laid the foundations of an entire new field in statistical mechanics. We demonstrate the emergence, even in a simplified one-dimensional model, of a spatial patterning of individuals and a right-skewed activity distribution, both of which are characteristics of division of labour in animal societies. We then show using a two-dimensional model that the work done by an individual within an activity bout is a sigmoidal function of its response threshold. Furthermore, there is an inverse relationship between the overall stimulus level and the skewness of the activity distribution. Therefore, the difference in the amount of work done by two individuals with different thresholds increases as the overall stimulus level decreases. Indeed, spatial fluctuations of task stimuli are minimised at these low stimulus levels. Hence, the more unequally labour is divided amongst individuals, the greater the ability of the colony to maintain homeostasis. Finally, we show that the non-random spatial distribution of individuals within biological and social systems could be caused by indirect (stigmergic) interactions, rather than direct agent-to-agent interactions. Our model links the principle of DoL with principles in the statistical mechanics and provides testable hypotheses for future experiments