Collective decision making in distributed systems inspired by honeybees behaviour

We propose a design methodology to provide cognitive capabilities to large-scale artificial distributed systems. The behaviour of such systems is the result of non-linear interactions of the individuals with each other and with the environment, and the resulting system behaviour is in general difficult to predict. The proposed methodology is based on the concept of cognitive design patterns, that is, reusable solutions to tackle problems requiring cognitive abilities (e.g., decision-making, attention, categorisation). Cognitive design patterns aim to support the engineering of distributed systems through guidelines and theoretical models that link the individual control rules of the agents to the desired global behaviour. In this paper, we propose a cognitive design pattern for collective decision-making inspired by the nest-site selection behaviour of honeybee swarms. We describe and analyse the theoretical models, and distill a set of guidelines for the implementation of collective decisions in distributed multi-agent systems. We demonstrate the validity of the cognitive design pattern in a case study involving spatial factors: the collective selection of the shortest path between two target areas. We analyse the dynamics of the multi-agent system and we show a very good adherence with the predictions of the macroscopic model. Future refinements of the cognitive design pattern will allow its usage in different application domains

Input-dependent noise can explain magnitude-sensitivity in optimal value-based decision-making

Recent work has derived the optimal policy for two-alternative value-based decisions, in which decision-makers compare the subjective expected reward of two alternatives. Under specific task assumptions — such as linear utility, linear cost of time and constant processing noise — the optimal policy is implemented by a diffusion process in which parallel decision thresholds collapse over time as a function of prior knowledge about average reward across trials. This policy predicts that the decision dynamics of each trial are dominated by the difference in value between alternatives and are insensitive to the magnitude of the alternatives (i.e., their summed values). This prediction clashes with empirical evidence showing magnitude-sensitivity even in the case of equal alternatives, and with ecologically plausible accounts of decision making. Previous work has shown that relaxing assumptions about linear utility or linear time cost can give rise to optimal magnitude-sensitive policies. Here we question the assumption of constant processing noise, in favour of input-dependent noise. The neurally plausible assumption of input-dependent noise during evidence accumulation has received strong support from previous experimental and modelling work. We show that including input-dependent noise in the evidence accumulation process results in a magnitude-sensitive optimal policy for value-based decision-making, even in the case of a linear utility function and a linear cost of time, for both single (i.e., isolated) choices and sequences of choices in which decision-makers maximise reward rate. Compared to explanations that rely on non-linear utility functions and/or non-linear cost of time, our proposed account of magnitude-sensitive optimal decision-making provides a parsimonious explanation that bridges the gap between various task assumptions and between various types of decision making

A quantitative micro-macro link for collective decisions: the shortest path discovery/selection example

In this paper, we study how to obtain a quantitative correspondence between the dynamics of the microscopic implementation of a robot swarm and the dynamics of a macroscopic model of nest-site selection in honeybees. We do so by considering a collec- tive decision-making case study: the shortest path discovery/selection problem. In this case study, obtaining a quantitative correspondence between the microscopic and macroscopic dynamics-the so-called micro-macro link problem-is particularly challenging because the macroscopic model does not take into account the spatial factors inherent to the path discovery/selection problem. We frame this study in the context of a general engineering methodology that prescribes the inclusion of available theoretical knowledge about target macroscopic models into design patterns for the microscopic implementation. The attain- ment of the micro-macro link presented in this paper represents a necessary step towards the formalisation of a design pattern for collective decision making in distributed systems

Controlling Robot Swarm Aggregation through a Minority of Informed Robots

Self-organised aggregation is a well studied behaviour in swarm robotics as it is the pre-condition for the development of more advanced group-level responses. In this paper, we investigate the design of decentralised algorithms for a swarm of heterogeneous robots that self-aggregate over distinct target sites. A previous study has shown that including as part of the swarm a number of informed robots can steer the dynamic of the aggregation process to a desirable distribution of the swarm between the available aggregation sites. We have replicated the results of the previous study using a simplified approach, we removed constraints related to the communication protocol of the robots and simplified the control mechanisms regulating the transitions between states of the probabilistic controller. The results show that the performances obtained with the previous, more complex, controller can be replicated with our simplified approach which offers clear advantages in terms of portability to the physical robots and in terms of flexibility. That is, our simplified approach can generate self-organised aggregation responses in a larger set of operating conditions than what can be achieved with the complex controller.Comment: Submitted to ANTS 202

Cross-inhibition leads to group consensus despite the presence of strongly opinionated minorities and asocial behaviour

Strongly opinionated minorities can have a dramatic impact on the opinion dynamics of a large population. Two factions of inflexible minorities, polarised into two competing opinions, could lead the entire population to persistent indecision. Equivalently, populations can remain undecided when individuals sporadically change their opinion based on individual information rather than social information. Our analysis compares the cross-inhibition model with the voter model for decisions between equally good alternatives, and with the weighted voter model for decisions among alternatives characterised by different qualities. Here we show that cross-inhibition, differently from the other two models, is a simple mechanism, ubiquitous in collective biological systems, that allows the population to reach a stable majority for one alternative even in the presence of asocial behaviour. The results predicted by the mean-field models are confirmed by experiments with swarms of 100 locally interacting robots. This work suggests an answer to the longstanding question of why inhibitory signals are widespread in natural systems of collective decision making, and, at the same time, it proposes an efficient mechanism for designing resilient swarms of minimalistic robots

Magnitude-sensitive reaction times reveal non-linear time costs in multi-alternative decision-making

Optimality analysis of value-based decisions in binary and multi-alternative choice settings predicts that reaction times should be sensitive only to differences in stimulus magnitudes, but not to overall absolute stimulus magnitude. Yet experimental work in the binary case has shown magnitude sensitive reaction times, and theory shows that this can be explained by switching from linear to multiplicative time costs, but also by nonlinear subjective utility. Thus disentangling explanations for observed magnitude sensitive reaction times is difficult. Here for the first time we extend the theoretical analysis of geometric time-discounting to ternary choices, and present novel experimental evidence for magnitude-sensitivity in such decisions, in both humans and slime moulds. We consider the optimal policies for all possible combinations of linear and geometric time costs, and linear and nonlinear utility; interestingly, geometric discounting emerges as the predominant explanation for magnitude sensitivity

Do We Run Large-scale Multi-Robot Systems on the Edge? More Evidence for Two-Phase Performance in System Size Scaling

With increasing numbers of mobile robots arriving in real-world applications, more robots coexist in the same space, interact, and possibly collaborate. Methods to provide such systems with system size scalability are known, for example, from swarm robotics. Example strategies are self-organizing behavior, a strict decentralized approach, and limiting the robot-robot communication. Despite applying such strategies, any multi-robot system breaks above a certain critical system size (i.e., number of robots) as too many robots share a resource (e.g., space, communication channel). We provide additional evidence based on simulations, that at these critical system sizes, the system performance separates into two phases: nearly optimal and minimal performance. We speculate that in real-world applications that are configured for optimal system size, the supposedly high-performing system may actually live on borrowed time as it is on a transient to breakdown. We provide two modeling options (based on queueing theory and a population model) that may help to support this reasoning.Comment: Submitted to the 2024 IEEE International Conference on Robotics and Automation (ICRA 2024

Sophisticated collective foraging with minimalist agents: a swarm robotics test

How groups of cooperative foragers can achieve efficient and robust collective foraging is of interest both to biologists studying social insects and engineers designing swarm robotics systems. Of particular interest are distance-quality trade-offs and swarm-size-dependent foraging strategies. Here we present a collective foraging system based on virtual pheromones, tested in simulation and in swarms of up to 200 physical robots. Our individual agent controllers are highly simplified, as they are based on binary pheromone sensors. Despite being simple, our individual controllers are able to reproduce classical foraging experiments conducted with more capable real ants that sense pheromone concentration and follow its gradient. One key feature of our controllers is a control parameter which balances the trade-off between distance selectivity and quality selectivity of individual foragers. We construct an optimal foraging theory model that accounts for distance and quality of resources, as well as overcrowding, and predicts a swarmsize-dependent strategy. We test swarms implementing our controllers against our optimality model and find that, for moderate swarm sizes, they can be parameterised to approximate the optimal foraging strategy. This study demonstrates the sufficiency of simple individual agent rules to generate sophisticated collective foraging behaviour