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Inter-individual differences are studied in natural systems, such as fish, bees, and humans, as they contribute to the complexity of both individual and collective behaviors. However, individuality in artificial systems, such as robotic…
Many species in nature demonstrate symbiotic relationships leading to emergent behaviors through cooperation, which are sometimes beyond the scope of the partnerships within the same species. These symbiotic relationships are classified as…
A robotic swarm that is required to operate for long periods in a potentially unknown environment can use both evolution and individual learning methods in order to adapt. However, the role played by the environment in influencing the…
Growing concerns about safety and alignment of AI systems highlight the importance of embedding moral capabilities in artificial agents: a promising solution is the use of learning from experience, i.e., Reinforcement Learning. In…
This paper investigates learning effects and human operator training practices in variable autonomy robotic systems. These factors are known to affect performance of a human-robot system and are frequently overlooked. We present the results…
Many of the world's most pressing issues, such as climate change and global peace, require complex collective problem-solving skills. Recent studies indicate that diversity in individuals' behaviors is key to developing such skills and…
Multi-robot systems performing continuous tasks face a performance trade-off when interrupted by urgent, time-critical sub-tasks. We investigate this trade-off in a scenario where a team must balance area patrolling with locating an…
Collective behaviours often need to be expressed through numerical features, e.g., for classification or imitation learning. This problem is often addressed by proposing an ad-hoc feature set for a particular swarm behaviour context,…
When an individual's behavior has rational characteristics, this may lead to irrational collective actions for the group. A wide range of organisms from animals to humans often evolve the social attribute of cooperation to meet this…
There has been growing interest in the use of multi-robot systems in various tasks and scenarios. The main attractiveness of such systems is their flexibility, robustness, and scalability. An often overlooked yet promising feature is system…
Robot swarms often exhibit emergent behaviors that are fascinating to observe; however, it is often difficult to predict what swarm behaviors can emerge under a given set of agent capabilities. We seek to efficiently leverage human input to…
The self-organizing behavior of swarms of inter- acting particles or agents is a topic of intense research in fields extending from biology to physics and robotics. In this paper, we carry out a systematic study of how the stable…
Heterogeneity in individual characteristics and behaviour is a fundamental property of complex dynamical systems. While previous studies on evolutionary dynamics of strategies evolution in various systems have predominantly focused on the…
Natural groups of animals, such as swarms of social insects, exhibit astonishing degrees of task specialization, useful to address complex tasks and to survive. This is supported by phenotypic plasticity: individuals sharing the same…
Understanding collective behavior and how it evolves is important to ensure that robot swarms can be trusted in a shared environment. One way to understand the behavior of the swarm is through collective behavior reconstruction using prior…
Collective behavior, and swarm formation in particular, has been studied from several perspectives within a large variety of fields, ranging from biology to physics. In this work, we apply Projective Simulation to model each individual as…
The spontaneous organization of collective activities in animal groups and societies has attracted a considerable amount of attention over the last decade. This kind of coordination often permits group-living species to achieve collective…
The study of flocking in biological systems has identified conditions for self-organized collective behavior, inspiring the development of decentralized strategies to coordinate the dynamics of swarms of drones and other autonomous…
In robotics, understanding human interaction with autonomous systems is crucial for enhancing collaborative technologies. We focus on human-swarm interaction (HSI), exploring how differently sized groups of active robots affect operators'…
The collective performance or capacity of collaborative autonomous systems such as a swarm of robots is jointly influenced by the morphology and the behavior of individual systems in that collective. In that context, this paper explores how…