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 $^{2/3}$ in polar-ordered SPP suspensions.Comment: submitted to Phys Rev Let

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

Individual Preferences and Social Interactions Determine the Aggregation of Woodlice

n°e17389.info:eu-repo/semantics/publishe

Swarming in shallow waters

A swarm is a collection of separate objects that move autonomously in the same direction in a concerted fashion. This type of behavior is observed in ensembles of various organisms but has proven inherently difficult to realize in artificial chemical systems, where the components have to self-assemble dynamically and, at the same time, propel themselves. This paper describes a class of systems in which millimeter-sized components interact hydrodynamically and organize into dissipative structures that swarm in thin fluid layers. Depending on the geometry of the particles, various types of swarms can be engineered, including ensembles that rotate, follow a "leader", or are pushed in front of a larger particle