NDLI: Eliciting collective behaviors through automatically generated environments

Content Provider	IEEE Xplore Digital Library
Author	Fine, B.T. Shell, D.A.
Copyright Year	2013
Abstract	Many groups of agents exhibit emergent collective behaviors. The environment in which the agents operate is one determinant of the resulting behaviors. This work shows how automatic enumeration of environments enables exploration of various collective behaviors that perform useful group functions (e.g. segregation, corralling, shape formation). Although groups of agents, such as mobile robots, can be manipulated through explicit control, this study shows that these systems can be usefully manipulated without resorting to such imperative means. This method has obvious uses for heterogeneous robot systems, especially those which include large numbers of simple agents. The method introduced is general, in that it takes as input: (1) algorithmic specifications of the environment generation, (2) a black-box model of the individual agent's control laws, and (3) a mathematical description of the task objective. To show the validity of the proposed method this investigation studies two behaviors (splitting and corralling) for three commonly studied motion models, including the well known Reynold's model. Simulations and physical multi-robot trials show that automatically generated environments can elicit pre-specified behaviors from a group of individual agents. Additionally, this work investigates the effects of a group's emergent properties on the ability to elicit the specified behavior via the environment. The findings suggest that automatically exploring environments can lead to better exploration and understanding of collective behaviors, including the identification of previously unknown emergent behaviors.
Sponsorship	IEEE Ind. Electron. Soc.
Starting Page	3303
Ending Page	3308
File Size	2067657
Page Count	6
File Format	PDF
ISSN	21530858
DOI	10.1109/IROS.2013.6696826
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2013-11-03
Publisher Place	Japan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Shape Grammar Mathematical model Simulation Robot sensing systems Controllability
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Computer Science Applications Computer Vision and Pattern Recognition Software

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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