Aggregation Behaviour as a Source of Collective Decision in a Group of Cockroach-Like-Robots
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 cockroach Blattella 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.
KeywordsAggregation Behaviour Collective Choice Aggregation Site German Cockroach Correlate Random Walk
Unable to display preview. Download preview PDF.
- 1.Agassounon, W., Martinoli, A.: A macroscopic model of an aggregation experiment using embodied agents in groups of time-varying sizes. In: Proceedings of the 2002 IEEE Systems, Man and Cybernetics Conference, Hammamet, Tunisia. IEEE Press, Los Alamitos (2002)Google Scholar
- 4.Camazine, S., Deneubourg, J.L., Franks, N.R., Sneyd, J., Theraulaz, G., Bonabeau, E.: Self-organization in biological systems. Princeton University Press, Princeton (2001)Google Scholar
- 11.Ledoux, A.: Étude experimentale du grégarisme et de l’interattraction sociale chez les Blattidés. Annales des Sciences Naturelles Zoologie et Biologie Animale 7, 76–103 (1945)Google Scholar
- 12.Martinoli, A., Mondada, F.: Collective and cooperative group behaviours: biologically inspired experiments in robotics. In: Khatib, O., Salisbury, J.K. (eds.) Proceedings of the Fourth International Symposium on Experimental Robotics, June 1995, pp. 3–10. LNCIS, Stanford (1995)Google Scholar
- 13.R Development Core Team. R: A language and environment for statistical computing. R Foundation for Statistical Computing, Vienna, Austria (2004) ISBN 3-900051-07-0Google Scholar
- 14.Rust, M.K., Owens, J.M., Reierson, D.A.: Understanding and controlling the german cockroach. Oxford University Press, Oxford (1995)Google Scholar