Aggregation Behaviour as a Source of Collective Decision in a Group of Cockroach-Like-Robots
Aggregation Behaviour as a Source of Collective Decision in a Group of Cockroach-Like-Robots
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DOI：
10.1007/11553090_18
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发表时间：
2005-09
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影响因子：
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通讯作者：
S. Garnier;C. Jost;Raphaël Jeanson;J. Gautrais;M. Asadpour;G. Caprari;G. Theraulaz
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文献类型：
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作者：
S. Garnier;C. Jost;Raphaël Jeanson;J. Gautrais;M. Asadpour;G. Caprari;G. Theraulaz
在群居动物中，聚集有利于个体之间的互动和信息交流，从而允许复杂的集体行为的出现。在以前的工作中，一个自增强的聚集模型推导出实验与cockroachBlattella germanica。在目前的工作中，该模型在微型机器人爱丽丝中实现，并成功地再现了在一组蟑螂中观察到的聚集动力学。我们发现，这种聚合过程，基于一个小的一套简单的行为规则的相互作用，可以使用的机器人组集体选择两个相同或不同的庇护所之间的聚合网站。此外，我们表明，聚合机制允许机器人作为一个群体，以“估计”的大小，每个住房在集体决策过程中，这是没有明确的编码在个人层面的能力。
In group-living animals, aggregation favours interactions and information exchanges between individuals, and thus allows the emergence of complex collective behaviors. In previous works, a model of a self-enhanced aggregation was deduced from experiments with the cockroachBlattella germanica. In the present work, this model was implemented in micro-robots Alice and successfully reproduced the agregation dynamics observed in a group of cockroaches. We showed that this aggregation process, based on a small set of simple behavioral rules of interaction, can be used by the group of robots to select collectively an aggregation site among two identical or different shelters. Moreover, we showed that the aggregation mechanism allows the robots as a group to “estimate” the size of each shelter during the collective decision-making process, a capacity which is not explicitly coded at the individual level.