Alain Boldini, Martina Civitella, Maurizio Porfiri
{"title":"Stigmergy: from mathematical modelling to control.","authors":"Alain Boldini, Martina Civitella, Maurizio Porfiri","doi":"10.1098/rsos.240845","DOIUrl":null,"url":null,"abstract":"<p><p>Stigmergy, the indirect communication between agents of a swarm through dynamic environmental modifications, is a fundamental self-organization mechanism of animal swarms. Engineers have drawn inspiration from stigmergy to establish strategies for the coordination of swarms of robots and of mixed societies of robots and animals. Currently, all models of stigmergy are algorithmic, in the form of behavioural rules implemented at an individual level. A critical challenge for the understanding of stigmergic behaviour and translation of stigmergy to engineering is the lack of a holistic approach to determine which modifications of the environment are necessary to achieve desired behaviours for the swarm. Here, we propose a mathematical framework that rigorously describes the relationship between environmental modifications and swarm behaviour. Building on recent strides in continuification techniques, we model the swarm and environmental modifications as continua. This approach allows us to design the environmental modifications required for the swarm to behave as desired. Through analytical derivations and numerical simulations of one- and two-dimensional examples, we show that our framework yields the distribution of traces required to achieve a desired formation. Such an approach provides an adaptable framework for different implementation platforms, from robotic swarms to mixed societies of robots and animals.</p>","PeriodicalId":21525,"journal":{"name":"Royal Society Open Science","volume":null,"pages":null},"PeriodicalIF":2.9000,"publicationDate":"2024-09-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC11371424/pdf/","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Royal Society Open Science","FirstCategoryId":"103","ListUrlMain":"https://doi.org/10.1098/rsos.240845","RegionNum":3,"RegionCategory":"综合性期刊","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"2024/9/1 0:00:00","PubModel":"eCollection","JCR":"Q1","JCRName":"MULTIDISCIPLINARY SCIENCES","Score":null,"Total":0}
引用次数: 0
Abstract
Stigmergy, the indirect communication between agents of a swarm through dynamic environmental modifications, is a fundamental self-organization mechanism of animal swarms. Engineers have drawn inspiration from stigmergy to establish strategies for the coordination of swarms of robots and of mixed societies of robots and animals. Currently, all models of stigmergy are algorithmic, in the form of behavioural rules implemented at an individual level. A critical challenge for the understanding of stigmergic behaviour and translation of stigmergy to engineering is the lack of a holistic approach to determine which modifications of the environment are necessary to achieve desired behaviours for the swarm. Here, we propose a mathematical framework that rigorously describes the relationship between environmental modifications and swarm behaviour. Building on recent strides in continuification techniques, we model the swarm and environmental modifications as continua. This approach allows us to design the environmental modifications required for the swarm to behave as desired. Through analytical derivations and numerical simulations of one- and two-dimensional examples, we show that our framework yields the distribution of traces required to achieve a desired formation. Such an approach provides an adaptable framework for different implementation platforms, from robotic swarms to mixed societies of robots and animals.
期刊介绍:
Royal Society Open Science is a new open journal publishing high-quality original research across the entire range of science on the basis of objective peer-review.
The journal covers the entire range of science and mathematics and will allow the Society to publish all the high-quality work it receives without the usual restrictions on scope, length or impact.