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Social insect societies and more specifically ant colonies, are distributed systems that, in spite of the simplicity of their individuals, present a highly structured social organization. As a result of this organization, ant colonies can…
Stochastic modeling of movement behavior provides a valuable way to understand how complex motion can be generated from relatively simple building blocks. Ants demonstrate sophisticated social behavior ranging from foraging to nest…
The precise and continuous tracking of millimetric-sized walkers --such as ants-- is quite important in behavioral studies. However, due to technical limitations, most studies concentrate on trajectories within arenas no more than 100 times…
Wheelchair-mounted robotic arms (and other assistive robots) should help their users perform everyday tasks. One way robots can provide this assistance is shared autonomy. Within shared autonomy, both the human and robot maintain control…
Two mobile agents, starting from different nodes of a network modeled as a graph, and woken up at possibly different times, have to meet at the same node. This problem is known as rendezvous. We consider deterministic distributed rendezvous…
Motivated by recent experimental work of Burd et al., we propose a model of bi-directional ant-traffic on pre-existing ant-trails. It captures in a simple way some of the generic collective features of movements of real ants on a trail.…
With the development of robotics and artificial intelligence field unceasingly thorough, path planning as an important field of robot calculation has been widespread concern. This paper analyzes the current development of robot and path…
Random walks are powerful tools to analyze spatial-temporal patterns produced by living organisms ranging from cells to humans. At the same time, it is evident that these patterns are not completely random but are results of a convolution…
Locomotion emerges from effective interactions of an individual with its environment. Principles of biological terrestrial locomotion have been discovered on unconfined vertical and horizontal substrates. However a diversity of organisms…
Artificial life models, swarm intelligent and evolutionary computation algorithms are usually built on fixed size populations. Some studies indicate however that varying the population size can increase the adaptability of these systems and…
Sequential decision-making algorithms such as multi-armed bandits can find optimal personalized decisions, but are notoriously sample-hungry. In personalized medicine, for example, training a bandit from scratch for every patient is…
Two mobile agents (robots) have to meet in an a priori unknown bounded terrain modeled as a polygon, possibly with polygonal obstacles. Agents are modeled as points, and each of them is equipped with a compass. Compasses of agents may be…
Animal movement exhibits complex behavior which can be influenced by unobserved environmental conditions. We propose a model which allows for a spatially-varying movement rate and spatially-varying drift through a semiparametric potential…
Two mobile agents (robots) with distinct labels have to meet in an arbitrary, possibly infinite, unknown connected graph or in an unknown connected terrain in the plane. Agents are modeled as points, and the route of each of them only…
We report experimental results on unidirectional traffic-like collective movement of ants on trails. Our work is primarily motivated by fundamental questions on the collective spatio-temporal organization in systems of interacting motile…
Biological swarms, such as ant colonies, achieve collective goals through decentralized and stochastic individual behaviors. Similarly, physical systems composed of gases, liquids, and solids exhibit random particle motion governed by…
The rendezvous task calls for two mobile agents, starting from different nodes of a network modeled as a graph to meet at the same node. Agents have different labels which are integers from a set $\{1,\dots,L\}$. They wake up at possibly…
We study the capture of a diffusing "lamb" by diffusing "lions" in one dimension. The capture dynamics is exactly soluble by probabilistic techniques when the number of lions is very small, and is tractable by extreme statistics…
Paratrechina longicornis ants are known for their ability to cooperatively transport large food items. Previous studies have focused on the behavioral rules of individual ants and explained the efficient coordination using the…
We consider the following variant of the two dimensional gathering problem for swarms of robots: Given a swarm of $n$ indistinguishable, point shaped robots on a two dimensional grid. Initially, the robots form a closed chain on the grid…