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

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

Earthworms Use Odor Cues to Locate and Feed on Microorganisms in Soil

Earthworms are key components of temperate soil ecosystems but key aspects of their ecology remain unexamined. Here we elucidate the role of olfactory cues in earthworm attraction to food sources and document specific chemical cues that attract Eisenia fetida to the soil fungi Geotrichum candidum. Fungi and other microorganisms are major sources of volatile emissions in soil ecosystems as well as primary food sources for earthworms, suggesting the likelihood that earthworms might profitably use olfactory cues to guide foraging behavior. Moreover, previous studies have documented earthworm movement toward microbial food sources. But, the specific olfactory cues responsible for earthworm attraction have not previously been identified. Using olfactometer assays combined with chemical analyses (GC-MS), we documented the attraction of E. fetida individuals to filtrate derived from G. candidum colonies and to two individual compounds tested in isolation: ethyl pentanoate and ethyl hexanoate. Attraction at a distance was observed when barriers prevented the worms from reaching the target stimuli, confirming the role of volatile cues. These findings enhance our understanding of the mechanisms underlying key trophic interactions in soil ecosystems and have potential implications for the extraction and collection of earthworms in vermiculture and other applied activities

The Formation of Collective Silk Balls in the Spider Mite Tetranychus urticae Koch

Tetranychus urticae is a phytophagous mite that forms colonies of several thousand individuals. These mites construct a common web to protect the colony. When plants become overcrowded and food resources become scarce, individuals gather at the plant apex to form a ball composed of mites and their silk threads. This ball is a structure facilitating group dispersal by wind or animal transport. Until now, no quantitative study had been done on this collective form of migration. This is the first attempt to understand the mechanisms that underlie the emergence and growth of the ball. We studied this collective behaviour under laboratory conditions on standardized infested plants. Our results show that the collective displacement and the formation of balls result from a recruitment process: by depositing silk threads on their way up to the plant apex, mites favour and amplify the recruitment toward the balls. A critical threshold (quorum response) in the cumulative flow of mites must be reached to observe the emergence of a ball. At the beginning of the balls formation, mites form an aggregate. After 24 hours, the aggregated mites are trapped inside the silk balls by the complex network of silk threads and finally die, except for recently arrived individuals. The balls are mainly composed of immature stages. Our study reconstructs the key events that lead to the formation of silk balls. They suggest that the interplay between mites' density, plant morphology and plant density lead to different modes of dispersions (individual or collective) and under what conditions populations might adopt a collective strategy rather than one that is individually oriented. Moreover, our results lead to discuss two aspects of the cooperation and altruism: the importance of Allee effects during colonization of new plants and the importance of the size of a founding group