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Multiscale Modelling and Analysis of Collective Decision Making in Swarm Robotics

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  • Matthias Vigelius
  • Bernd Meyer
  • Geoffrey Pascoe

Abstract

We present a unified approach to describing certain types of collective decision making in swarm robotics that bridges from a microscopic individual-based description to aggregate properties. Our approach encompasses robot swarm experiments, microscopic and probabilistic macroscopic-discrete simulations as well as an analytic mathematical model. Following up on previous work, we identify the symmetry parameter, a measure of the progress of the swarm towards a decision, as a fundamental integrated swarm property and formulate its time evolution as a continuous-time Markov process. Contrary to previous work, which justified this approach only empirically and a posteriori, we justify it from first principles and derive hard limits on the parameter regime in which it is applicable.

Suggested Citation

  • Matthias Vigelius & Bernd Meyer & Geoffrey Pascoe, 2014. "Multiscale Modelling and Analysis of Collective Decision Making in Swarm Robotics," PLOS ONE, Public Library of Science, vol. 9(11), pages 1-19, November.
    • Handle: RePEc:plo:pone00:0111542
    DOI: 10.1371/journal.pone.0111542
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    Cited by:

    1. Seyed Mohsen Mirbagheri & Ata Ollah Rafiei Atani & Mohammadreza Parsanejad, 2023. "The Effect of Collective Decision-Making on Productivity: A Structural Equation Modeling," SAGE Open, , vol. 13(4), pages 21582440231, December.
    2. Andreagiovanni Reina & Gabriele Valentini & Cristian Fernández-Oto & Marco Dorigo & Vito Trianni, 2015. "A Design Pattern for Decentralised Decision Making," PLOS ONE, Public Library of Science, vol. 10(10), pages 1-18, October.
    3. Fidel Aznar & Mar Pujol & Ramón Rizo & Carlos Rizo, 2018. "Modelling multi-rotor UAVs swarm deployment using virtual pheromones," PLOS ONE, Public Library of Science, vol. 13(1), pages 1-20, January.

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