Applying Scale-Invariant Dynamics to Improve Consensus Achievement of Agents in Motion

  • Ilja RauschEmail author
  • Yara Khaluf
  • Pieter Simoens
Conference paper
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 801)


In order to efficiently execute tasks, autonomous collective systems are required to rapidly reach accurate consensus, no matter how the group is distributed over the environment. Finding consensus in a group of agents that are in motion is a particularly great challenge, especially at larger scales and extensive environments. Nevertheless, numerous collective systems in nature reach consensus independently of scale, i.e. they are scale-free or scale-invariant. Inspired by these natural phenomena, the aim of our work is to improve consensus achievement in artificial systems by finding fundamental links between individual decision-making and scale-free collective behavior. For model validation we use physics-based simulations as well as a swarm robotic testbed.


Consensus achievement Scale invariance Swarm robotics 


  1. 1.
    Brambilla, M., Ferrante, E., Birattari, M., Dorigo, M.: Swarm robotics: a review from the swarm engineering perspective. Swarm Intell. 7(1), 1–41 (2013)CrossRefGoogle Scholar
  2. 2.
    Buhl, J., Sumpter, D.J.T., Couzin, I.D., Hale, J.J., Despland, E., Miller, E.R., Simpson, S.J.: From disorder to order in marching locusts. Science 312(5778), 1402–1406 (2006)CrossRefGoogle Scholar
  3. 3.
    Cavagna, A., Cimarelli, A., Giardina, I., Parisi, G., Santagati, R., Stefanini, F., Viale, M.: Scale-free correlations in starling flocks. Proc. Nat. Acad. Sci. 107(26), 11865–11870 (2010)CrossRefGoogle Scholar
  4. 4.
    Cohen, R., Havlin, S.: Scale-free networks are ultrasmall. Phys. Rev. Lett. 90, 058701 (2003)CrossRefGoogle Scholar
  5. 5.
    Herrero, C.P.: Ising model in clustered scale-free networks. Phys. Rev. E 91, 052812 (2015)MathSciNetCrossRefGoogle Scholar
  6. 6.
    Hu, M.B., Wang, W.X., Jiang, R., Wu, Q.S., Wu, Y.H.: Phase transition and hysteresis in scale-free network traffic. Phys. Rev. E 75, 036102 (2007)CrossRefGoogle Scholar
  7. 7.
    Khaluf, Y., Ferrante, E., Simoens, P., Huepe, C.: Scale invariance in natural and artificial collective systems: a review. J. Royal Soc. Interface 14(136), 20170662 (2017)CrossRefGoogle Scholar
  8. 8.
    Khaluf, Y., Pinciroli, C., Valentini, G., Hamann, H.: The impact of agent density on scalability in collective systems: noise-induced versus majority-based bistability. Swarm Intell. 11(2), 155–179 (2017)CrossRefGoogle Scholar
  9. 9.
    Reina, A., Valentini, G., Fernndez-Oto, C., Dorigo, M., Trianni, V.: A design pattern for decentralised decision making. PLOS ONE 10(10), e0140950 (2015)CrossRefGoogle Scholar

Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  1. 1.Ghent University - imecGhentBelgium

Personalised recommendations