Soutenance publique de thèse de doctorat en informatique - Antoine SION

Private and social information in collectives: from controlling robot swarm aggregation to animal dispersal modelling

Over recent years, the development of agent-based models has allowed researchers to advance their understanding of naturally occurring collective behaviours. Swarm robotics, a field studying the design of decentralised robot swarms, has emerged following the replication of some collective behaviours in artificial groups of robots. The first part of this thesis provides novel techniques for the aggregation of heterogeneous swarms. First, we enhance an existing controller for an aggregation problem on two sites through the use of informed robots. We show that our simplified approach offers a wider range of operating conditions and a greater flexibility. Second, we provide a new method for the aggregation of robot swarms with adaptive random walks. We separately study cue-based aggregation with a swarm of robots only sensing private information and neighbour-based aggregation with a swarm of robots sensing social information. We show that a trade-off can be obtained with a heterogeneous swarm composed of the two robot types, forming a dense cluster near the minimum of an environmental cue.

Private and social information also play a key role in the evolution of biological processes inside animal groups. Dispersal, the movement of an animal from site of birth to site of reproduction, is strongly affected by the acquisition and the use of information. Since experimental research is often difficult to conduct while accounting for multiple information sources and environmental variability, the use of agent-based models offer an opportunity to study the evolution of dispersal and its associated costs linked to private and social information in a controlled setting. The second part of this thesis provides an agent-based model of dispersal including the acquisition of information and its associated costs. Throughout three case studies, we observe the evolution of genes linked to the acquisition of information and the obtained dispersal strategies in different scenarios.

Contact : Isabelle Daelman - isabelle.daelman@unamur.be
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