TY - GEN
T1 - A stochastic hybrid system model of collective transport in the desert ant aphaenogaster cockerelli
AU - Kumar, Ganesh P.
AU - Buffin, Aurélie
AU - Pavlic, Theodore
AU - Pratt, Stephen
AU - Berman, Spring
PY - 2012
Y1 - 2012
N2 - Collective food transport in ant colonies is a striking, albeit poorly understood, example of coordinated group behavior in nature that can serve as a template for robust, decentralized multi-robot cooperative manipulation strategies. We investigate this behavior in Aphaenogaster cockerelli ants in order to derive a model of the ants' roles and behavioral transitions and the resulting dynamics of a transported load. In experimental trials, A. cockerelli are induced to transport a rigid artificial load to their nest. From video recordings of the trials, we obtain time series data on the load position and the population counts of ants in three roles. From our observations, we develop a stochastic hybrid system model that describes the time evolution of these variables and that can be used to derive the dynamics of their statistical moments. In our model, ants switch stochastically between roles at constant, unknown probability rates, and ants in one role pull on the load with a force that acts as a proportional controller on the load velocity with unknown gain and set point. We compute these unknown parameters by using standard numerical optimization techniques to fit the time evolution of the means of the load position and population counts to the averaged experimental time series. The close fit of our model to the averaged data and to data for individual trials demonstrates the accuracy of our proposed model in predicting the ant behavior.
AB - Collective food transport in ant colonies is a striking, albeit poorly understood, example of coordinated group behavior in nature that can serve as a template for robust, decentralized multi-robot cooperative manipulation strategies. We investigate this behavior in Aphaenogaster cockerelli ants in order to derive a model of the ants' roles and behavioral transitions and the resulting dynamics of a transported load. In experimental trials, A. cockerelli are induced to transport a rigid artificial load to their nest. From video recordings of the trials, we obtain time series data on the load position and the population counts of ants in three roles. From our observations, we develop a stochastic hybrid system model that describes the time evolution of these variables and that can be used to derive the dynamics of their statistical moments. In our model, ants switch stochastically between roles at constant, unknown probability rates, and ants in one role pull on the load with a force that acts as a proportional controller on the load velocity with unknown gain and set point. We compute these unknown parameters by using standard numerical optimization techniques to fit the time evolution of the means of the load position and population counts to the averaged experimental time series. The close fit of our model to the averaged data and to data for individual trials demonstrates the accuracy of our proposed model in predicting the ant behavior.
KW - Bio-inspired robotics
KW - Biomimicry
KW - Collective transport
KW - Distributed robot systems
KW - Social insect behavior modeling
KW - Stochastic hybrid system
UR - http://www.scopus.com/inward/record.url?scp=84876758117&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84876758117&partnerID=8YFLogxK
U2 - 10.1145/2461328.2461349
DO - 10.1145/2461328.2461349
M3 - Conference contribution
AN - SCOPUS:84876758117
SN - 9781450315678
T3 - HSCC 2013 - Proceedings of the 16th International Conference on Hybrid Systems: Computation and Control, Part of CPSWeek 2013
SP - 119
EP - 124
BT - HSCC 2013 - Proceedings of the 16th International Conference on Hybrid Systems
T2 - 16th International Conference on Hybrid Systems: Computation and Control, HSCC 2013 - Part of CPSWeek 2013
Y2 - 8 April 2013 through 11 April 2013
ER -