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Self-Organized Aggregation Triggers Collective Decision Making in a Group of Cockroach-Like Robots

机译：自组织聚集触发一组类似蟑螂的机器人的集体决策

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摘要

Self-amplification processes are at the origin of several collective decision phenomena in insect societies. Understanding these processes requires linking individual behavioral rules of insects to a choice dynamics at the colony level. In a homogeneous environment, the German cockroach Blattella ger-manica displays self-amplified aggregation behavior. In a heterogeneous environment where several shelters are present, groups of cockroaches collectively select one of them. In this article, we demonstrate that the restriction of the self-amplified aggregation behavior to distinct zones in the environment can explain the emergence of a collective decision at the level of the group. This hypothesis is tested with robotics experiments and dedicated computer simulations. We show that the collective decision is influenced by the available spaces to explore and to aggregate in, by the size of the population involved in the aggregation process and by the probability of encounter zones while the robots explore the environment. We finally discuss these results from both a biological and a robotics point of view.
机译：自我放大过程是昆虫社会中几种集体决策现象的起源。了解这些过程需要将昆虫的个体行为规则与菌落水平的选择动态联系起来。在同质环境中，德国蟑螂小att（Blattella ger-manica）表现出自我放大的聚集行为。在存在多个避难所的异类环境中，成群的蟑螂共同选择其中一个。在本文中，我们证明了自扩增聚集行为对环境中不同区域的限制可以解释在该组级别上集体决策的出现。该假设已通过机器人实验和专用计算机仿真进行了检验。我们表明，集体决策受可探索和聚集的可用空间，参与聚集过程的人口规模以及机器人探索环境时遇到区域的可能性的影响。我们最终将从生物学和机器人学的角度讨论这些结果。

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