Aggregation behaviour as a source of collective decision in a group of cockroach-like-robots

Authors:
Simon Garnier;Christian Jost;Raphaël Jeanson;Jacques Gautrais;Masoud Asadpour;Gilles Caprari;Guy Theraulaz
Affiliations:
Centre de Recherches sur la Cognition Animale, UMR-CNRS 5169, Université Paul Sabatier, Toulouse cedex 4, France;Centre de Recherches sur la Cognition Animale, UMR-CNRS 5169, Université Paul Sabatier, Toulouse cedex 4, France;Centre de Recherches sur la Cognition Animale, UMR-CNRS 5169, Université Paul Sabatier, Toulouse cedex 4, France;Centre de Recherches sur la Cognition Animale, UMR-CNRS 5169, Université Paul Sabatier, Toulouse cedex 4, France;Autonomous Systems Lab, Swiss Federal Institute of Technology, (EPFL), Lausanne, Switzerland;Autonomous Systems Lab, Swiss Federal Institute of Technology, (EPFL), Lausanne, Switzerland;Centre de Recherches sur la Cognition Animale, UMR-CNRS 5169, Université Paul Sabatier, Toulouse cedex 4, France
Venue:
ECAL'05 Proceedings of the 8th European conference on Advances in Artificial Life
Year:
2005

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Abstract

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.