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In order for a team of cooperating agents to achieve a group goal (such as searching for targets, monitoring an environment, etc.) those agents must be able to share information and achieve some level of coordination. Since realistic methods of communication between agents have limited range and speed, the agents?? decision-making strategies must operate with incomplete and outdated information. Moreover,...
This paper presents a class of network optimization processes that account for the emergence of scale-free network structures. We introduce a mathematical framework that captures the connectivity and growth dynamics of a network with an arbitrary initial topology. We show how selection via differential node fitness affects the proportion of connections a node makes to other nodes, and how a heavy-tailed...
A model of honey bee social foraging is introduced to create an algorithm that solves a class of optimal resource allocation problems. We prove that if several such algorithms compete in the same problem domain, the strategy they use is a special type of evolutionarily stable strategy. Moreover, for a single or multiple hives we prove that an ideal free distribution is achieved, and that the allocation...
Bioinspired solutions to technological problems exploit robust and optimal solutions evolved for biological systems via natural selection. In [1] a honey bee social foraging algorithm was introduced. It was shown that if several such algorithms ("hives") compete in the same problem domain, the strategy they use is a Nash equilibrium and that the allocation strategy is globally optimal. To...
Systems biology of decision making focuses on understanding the structures, dynamics, and evolution of complex interconnected biological mechanisms that support decision making by individuals and social animal groups. In this article, an experimentally validated mathematical model of the nest-site selection process of honey bee swarms is introduced. In this spatially distributed dynamical feedback...
We extend the theory of the "ideal free distribution" (IFD) from theoretical ecology by providing methods to analytically find the distribution for a relatively general class of "suitability" functions. We show that the resulting IFD is a Nash equilibrium and an evolutionarily stable strategy (ESS). Moreover, we show that for a certain cost function it is a global optimum point...
A mathematical model is introduced for the study of the behavior of a spatially distributed group of heterogenous agents which possess noisy assessments of the state of their immediate surroundings. We define general sensing and motion conditions on the agents that guarantee the emergence of a type of "ideal free distribution" (IFD) across the environment, and focus on how individual and...
This paper addresses the problem of achieving a balanced distribution of autonomous vehicles across a locally connected topology of areas. Motivated by a cooperative autonomous air vehicle mission scenario that requires the performance of extended surveillance over distances large enough to impede vehicle-to-vehicle communication, the proposed algorithm allows the group to achieve the desired distribution...
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