Unraveling the nature of the communication model that governs which two individuals in a swarm interact with each other is an important line of inquiry in the collective behavior sciences. A number of models have been proposed in the biological swarm literature, with the leading models being the metric, topological, and visual models. The hypothesis evaluated in this manuscript is whether the choice of a communication model impacts the performance of a tasked artificial swarm. The biological models are used to design coordination algorithms for a simulated swarm, which are evaluated over a range of six swarm robotics tasks. Each task has an associated set of performance metrics that are used to evaluate how the communication models fare against each other. The general findings demonstrate that the communication model significantly affects the swarm's performance for individual tasks, and this result implies that the communication model-task pairing is an important consideration when designing artificial swarms. Further analysis of each tasks' performance metrics reveal instances in which pairwise considerations of model and one of the various experimental factors becomes relevant. The reported research demonstrates that the artificial swarm's task performance can be increased through the careful selection of a communications model.
The metric model is one of the earliest models developed to represent range-limited communication between biological swarm agents @cite_27 @cite_19 @cite_42 . This model is used as a benchmark for comparison testing relatively newer communication models @cite_48 @cite_21 @cite_28 . The model is widely-used in the field of multi-robot systems, as well, due to its ability to capture sensor range constraints @cite_58 @cite_36 @cite_54 . However, a field study of European starlings, Sturnus vulgaris , indicates that the swarm uses a topological, rather than a range limited model @cite_21 . Specifically, starlings coordinate with their nearest six to seven neighbors (topological distance). An artificial swarm, in response to a simulated predator, decomposes into fewer groups, and produces more cohesive swarms, when using the topological model compared to the metric model @cite_21 . Strandburg-Peshkin @cite_48 introduced the visual model, and show that it best predicts how golden shiners, Notemigonus crysoleucas , behave in response to stimuli. The model's low clustering makes it fundamentally different from the metric and topological models, from a network-theoretic perspective.
@cite_28 @cite_48 @cite_36 @cite_42 @cite_21 @cite_54 @cite_19 @cite_27 @cite_58
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Numerical models indicate that collective animal behavior may emerge from simple local rules of interaction among the individuals. However, very little is known about the nature of such interaction, so that models and theories mostly rely on aprioristic assumptions. By reconstructing the three-dimensional positions of individual birds in airborne flocks of a few thousand members, we show that the interaction does not depend on the metric distance, as most current models and theories assume, but rather on the topological distance. In fact, we discovered that each bird interacts on average with a fixed number of neighbors (six to seven), rather than with all neighbors within a fixed metric distance. We argue that a topological interaction is indispensable to maintain a flock's cohesion against the large density changes caused by external perturbations, typically predation. We support this hypothesis by numerical simulations, showing that a topological interaction grants significantly higher cohesion of the aggregation compared with a standard metric one. Social transmission of information is vital for many group-living animals, allowing coordination of motion and effective response to complex environments. Revealing the interaction networks underlying information flow within these groups is a central challenge [1]. Previous work has modeled interactions between individuals based directly on their relative spatial positions: each individual is considered to interact with all neighbors within a fixed distance (metric range [2]), a fixed number of nearest neighbors (topological range [3]), a ‘shell’ of near neighbors (Voronoi range [4]), or some combination (Figure 1A). However, conclusive evidence to support these assumptions is lacking. Here, we employ a novel approach that considers individual movement decisions to be based explicitly on the sensory information available to the organism. In other words, we consider that while spatial relations do inform interactions between individuals, they do so indirectly, through individuals’ detection of sensory cues. We reconstruct computationally the visual field of each individual throughout experiments designed to investigate information propagation within fish schools (golden shiners, Notemigonus crysoleucas). Explicitly considering visual sensing allows us to more accurately predict the propagation of behavioral change in these groups during leadership events. Furthermore, we find that structural properties of visual interaction networks differ markedly from those of metric and topological counterparts, suggesting that previous assumptions may not appropriately reflect information flow in animal groups. We consider two variants of the task of spreading a swarm of agents uniformly on a ring graph. Ant-like oblivious agents having limited capabilities are considered. The agents are assumed to have little memory, they all execute the same algorithm and no direct communication is allowed between them. Furthermore, the agents do not possess any global information. In particular, the size of the ring (n) and the number of agents in the swarm (k) are unknown to them. The agents are assumed to operate on an unweighted ring graph. Every agent can measure the distance to his two neighbors on the ring, up to a limited range of V edges. The first task considered, is dynamical (i.e. in motion) uniform deployment on the ring. We show that if either the ring is unoriented, or the visibility range is less than @?n [email protected]?, this is an impossible mission for the agents. Then, for an oriented ring and V>[email protected]?n [email protected]?, we propose an algorithm which achieves the deployment task in optimal time. The second task discussed, called quiescent spread, requires the agents to spread uniformly over the ring and stop moving. We prove that under our model, in which every agent can measure the distance only to his two neighbors, this task is impossible. Subsequently, we propose an algorithm which achieves quiescent but only almost uniform spread. The algorithms we present are scalable and robust. In case the environment (the size of the ring) or the number of agents changes during the run, the swarm adapts and re-deploys without requiring any outside interference. The objective of sparse metric learning is to learn a distance measure from a set of data in addition to finding a low-dimensional representation. Despite demonstrated success, the performance of existing sparse metric learning approaches is usually limited because the methods assumes certain problem relaxations or they target the SML objective indirectly. In this paper, we propose a Generalized Sparse Metric Learning method. This novel framework offers a unified view for understanding many existing sparse metric learning algorithms including the Sparse Metric Learning framework proposed in (Rosales and Fung ACM International conference on knowledge discovery and data mining (KDD), pp 367–373, 2006), the Large Margin Nearest Neighbor ( in Advances in neural information processing systems (NIPS), 2006; Weinberger and Saul in Proceedings of the twenty-fifth international conference on machine learning (ICML-2008), 2008), and the D-ranking Vector Machine (D-ranking VM) (Ouyang and Gray in Proceedings of the twenty-fifth international conference on machine learning (ICML-2008), 2008). Moreover, GSML also establishes a close relationship with the Pairwise Support Vector Machine ( in BMC Bioinform, 8, 2007). Furthermore, the proposed framework is capable of extending many current non-sparse metric learning models to their sparse versions including Relevant Component Analysis (Bar- in J Mach Learn Res, 6:937–965, 2005) and a state-of-the-art method proposed in ( Advances in neural information processing systems (NIPS), 2002). We present the detailed framework, provide theoretical justifications, build various connections with other models, and propose an iterative optimization method, making the framework both theoretically important and practically scalable for medium or large datasets. Experimental results show that this generalized framework outperforms six state-of-the-art methods with higher accuracy and significantly smaller dimensionality for seven publicly available datasets.