scholarly journals A model of collective behavior based purely on vision

2020 ◽  
Vol 6 (6) ◽  
pp. eaay0792
Author(s):  
Renaud Bastien ◽  
Pawel Romanczuk
Keyword(s):  
Collective Behavior ◽  
Spatial Representation ◽  
Field Of View ◽  
Robotic Systems ◽  
External Information ◽  
Central Feature ◽  
Mathematical Framework ◽  
Classical Models ◽  
Explanatory Success ◽  
The Individual

Classical models of collective behavior often take a “bird’s-eye perspective,” assuming that individuals have access to social information that is not directly available (e.g., the behavior of individuals outside of their field of view). Despite the explanatory success of those models, it is now thought that a better understanding needs to incorporate the perception of the individual, i.e., how internal and external information are acquired and processed. In particular, vision has appeared to be a central feature to gather external information and influence the collective organization of the group. Here, we show that a vision-based model of collective behavior is sufficient to generate organized collective behavior in the absence of spatial representation and collision. Our work suggests a different approach for the development of purely vision-based autonomous swarm robotic systems and formulates a mathematical framework for exploration of perception-based interactions and how they differ from physical ones.

scholarly journals A model of collective behavior based purely on vision

2019 ◽  
Author(s):  
Renaud Bastien ◽  
Pawel Romanczuk
Keyword(s):  
Collective Behavior ◽  
Spatial Representation ◽  
External Information ◽  
Central Feature ◽  
Mathematical Framework ◽  
Systems Neuroscience ◽  
Novel Approach ◽  
Classical Models ◽  
Explanatory Success ◽  
The Individual

Classical models of collective behavior often take a “birds-eye perspective,” assuming that individuals have access to social information that is not directly available (e.g., the behavior of individuals outside of their field of view). Despite the explanatory success of those models, it is now thought that a better understanding needs to incorporate of the perception of the individual, i.e. how internal and external information are acquired and processed. In particular, vision has appeared to be a central feature to gather external information and influence the collective organization of the group. Here we show that a vision based model of collective behavior is sufficient to generate organized collective behavior in the absence of spatial representation and collision. Our work suggests a novel approach for development of purely vision-based autonomous swarm robotic systems, and formulates a mathematical framework for exploration of perception-based interactions and how they differ from physical ones. Thus, it is of broader relevance for self-organization in complex systems, neuroscience, behavioral sciences and engineering.

scholarly journals Predictive Control of Aerial Swarms in Cluttered Environments

2020 ◽  
Author(s):  
Enrica Soria ◽  
Fabrizio Schiano ◽  
Dario Floreano
Keyword(s):  
Real World ◽  
Urban Areas ◽  
Collective Motion ◽  
Tight Coupling ◽  
Cluttered Environments ◽  
Individual Level ◽  
Robotic Swarms ◽  
Classical Models ◽  
Explanatory Success ◽  
The Individual

Abstract Classical models of aerial swarms often describe global coordinated motion as the combination of local interactions that happen at the individual level. Mathematically, these interactions are represented with Potential Fields. Despite their explanatory success, these models fail to guarantee rapid and safe collective motion when applied to aerial robotic swarms flying in cluttered environments of the real world, such as forests and urban areas. Moreover, these models necessitate a tight coupling with the deployment scenarios to induce consistent swarm behaviors. Here, we propose a predictive model that combines the local principles of potential field models with the knowledge of the agents’ dynamics. We show that our approach improves the speed, order, and safety of the swarm, it is independent of the environment layout, and scalable in the swarm speed and inter-agent distance. Our model is validated with a swarm of five quadrotors that can successfully navigate in a real-world indoor environment populated with obstacles.

scholarly journals Material Geometry of Binary Composites

Symmetry ◽  
2021 ◽  
Vol 13 (5) ◽  
pp. 892
Author(s):  
Marcelo Epstein
Keyword(s):  
Continuum Mechanics ◽  
Mathematical Framework ◽  
Double Groupoid ◽  
The Individual ◽  
Elastic Composites

The constitutive characterization of the uniformity and homogeneity of binary elastic composites is presented in terms of a combination of the material groupoids of the individual constituents. The incorporation of these two groupoids within a single double groupoid is proposed as a viable mathematical framework for a unified formulation of this and similar kinds of problems in continuum mechanics.

Dynamics and Bifurcations in Networks Designed for Frequency Conversion

2021 ◽  
Vol 31 (12) ◽  
pp. 2130037
Author(s):  
Visarath In ◽  
Antonio Palacios
Keyword(s):  
Collective Behavior ◽  
Frequency Conversion ◽  
Signal Frequency ◽  
Complex Signals ◽  
Multiple Frequencies ◽  
Basic Ideas ◽  
The Individual ◽  
Parallel Arrays ◽  
To Receive ◽  
Down Conversion

This article reviews recent progress in signal frequency up-conversion and down-conversion, both theory and experiments with network implementations. The fundamental idea is to exploit the inherent symmetry of networks to produce collective behavior in which certain oscillators tend to oscillate at different frequencies. This concept is significantly different from other techniques, e.g. master-slave systems, in the sense that the collective behavior arises naturally from the mutual interactions of the individual units, and without any external forcing. In this manuscript, we present a comprehensive review of the basic ideas, methods, and experiments of the symmetry-based phenomenon of frequency conversion. In addition, we present a review of a device implementation of a broad spectrum analyzer, which motivated the development of systematic methods to up- and down-convert frequencies of oscillations. This device is made up of large parallel arrays of analog nonlinear oscillators with the ability to receive complex signals containing multiple frequencies and instantaneously lock-on or respond to a received signal in a few oscillation cycles.

Foundation for Model Integration: Semantic Backplane

2012 ◽  
Author(s):  
Gabor Simko ◽  
Tihamer Levendovszky ◽  
Sandeep Neema ◽  
Ethan Jackson ◽  
Ted Bapty ◽  
...  
Keyword(s):  
Design Flow ◽  
Model Transformations ◽  
Model Integration ◽  
Mathematical Framework ◽  
Modeling Languages ◽  
Tool Chain ◽  
Model Based ◽  
Essential Properties ◽  
The Individual ◽  
Term Algebra

One of the primary goals of the Adaptive Vehicle Make (AVM) program of DARPA is the construction of a model-based design flow and tool chain, META, that will provide significant productivity increase in the development of complex cyber-physical systems. In model-based design, modeling languages and their underlying semantics play fundamental role in achieving compositionality. A significant challenge in the META design flow is the heterogeneity of the design space. This challenge is compounded by the need for rapidly evolving the design flow and the suite of modeling languages supporting it. Heterogeneity of models and modeling languages is addressed by the development of a model integration language – CyPhy – supporting constructs needed for modeling the interactions among different modeling domains. CyPhy targets simplicity: only those abstractions are imported from the individual modeling domains to CyPhy that are required for expressing relationships across sub-domains. This “semantic interface” between CyPhy and the modeling domains is formally defined, evolved as needed and verified for essential properties (such as well-formedness and invariance). Due to the need for rapid evolvability, defining semantics for CyPhy is not a “one-shot” activity; updates, revisions and extensions are ongoing and their correctness has significant implications on the overall consistency of the META tool chain. The focus of this paper is the methods and tools used for this purpose: the META Semantic Backplane. The Semantic Backplane is based on a mathematical framework provided by term algebra and logics, incorporates a tool suite for specifying, validating and using formal structural and behavioral semantics of modeling languages, and includes a library of metamodels and specifications of model transformations.

Self Configuration of a Novel Miniature Ultrasonic Linear Motor

2006 ◽  
Vol 113 ◽  
pp. 167-172
Author(s):  
Maik Mracek ◽  
Tobias Hemsel ◽  
Piotr Vasiljev ◽  
Jörg Wallaschek
Keyword(s):  
High Power ◽  
Collective Behavior ◽  
Industrial Application ◽  
Limited Range ◽  
Linear Superposition ◽  
Ultrasonic Motors ◽  
Higher Power ◽  
Small Force ◽  
The Individual ◽  
Individual Motor

Rotary ultrasonic motors have found broad industrial application in camera lens drives and other systems. Linear ultrasonic motors in contrast have only found limited applications. The main reason for the limited range of application of these very attractive devices seems to be their small force and power range. Attempts to build linear ultrasonic motors for high forces and high power applications have not been truly successful yet. To achieve drives, larger force and higher power, and multiple miniaturized motors can be combined. This approach, however, is not as simple as it appears at first glance. The electromechanical behavior of individual motors differs slightly due to manufacturing and assembly tolerances. Individual motor characteristics are strongly dependent on the driving parameters (frequency, voltage, temperature, pre-stress, etc.) and the driven load and the collective behavior of the swarm of motors is not just the linear superposition of the individual drive’s forces.

Teacher’s Corner: Toward a Coherent View of Reliability in Test Theory

1997 ◽  
Vol 22 (4) ◽  
pp. 478-484
Author(s):  
Heng Li ◽  
Howard Wainer
Keyword(s):  
Internal Consistency ◽  
Test Scores ◽  
General Framework ◽  
Test Theory ◽  
Mathematical Framework ◽  
Individual Character ◽  
The Individual ◽  
Reliability Coefficients

Reliability of test scores, as estimated through measures of internal consistency, has been characterized mathematically in many ways that appear, on the surface at least, to be very dissimilar to one another. In this essay we provide a general mathematical framework that specializes to four different reliability coefficients. Through consideration of this general framework it becomes easier to convey to students both the individual character of the different formulations of reliability and the extent of their underlying similarity. In addition to providing a coherent view of reliability, the unified formula is also found to be a convenient vehicle for introducing more specialized topics, such as the Kaiser-Guttman rule.

Biography and Autobiography in the Italian Renaissance

Mapping Lives ◽  
2004 ◽  
Author(s):  
Martin McLaughlin
Keyword(s):  
Middle Ages ◽  
Italian Renaissance ◽  
Classical Models ◽  
The Subject ◽  
De Viris Illustribus ◽  
The Individual ◽  
The Middle Ages

During the period of 1300–1600, autobiography and biography flourished in Italy despite the controversial thesis of the ‘rise of the individual’ during the Italian Renaissance. In the same period, a typology of biographical works emerged distinguishing the Middle Ages and the Renaissance in Italy. These three strands of biography are: collection of lives, a De viris illustribus tradition, revived in Petrarch's work of the same name and inspired by Classical lives of famous rulers, by medieval Viri illustres, and by famous writers and artists; individual biographies, again either of a single ruler or of an individual, and once more derived from Classical models, such as Boccaccio's De vita et moribus Francisci Petrarcchi and Trattatello in laude di Dante; and autobiography, which was pioneered by Petrarch through his Secretum, a purportedly secret dialogue in which St. Augustine was the subject. This chapter discusses distinctive examples of the three strands of biography, with emphasis on the biographies and autobiographies of the writers. It charts the rise and principal developments of these genres during 1350 to 1550.

A Portrait of the Artist

2014 ◽  
pp. 1-79
Author(s):  
David Gillis
Keyword(s):  
Central Feature ◽  
Jewish Law ◽  
Knowledge Of God ◽  
Great Thing ◽  
Literary Art ◽  
Philosophy And Religion ◽  
The Matrix ◽  
The One ◽  
The Individual ◽  
The Relationship

This introductory chapter provides a background of Maimonides and his code of Jewish law, the Mishneh torah. Maimonides applied the highest literary art to the highest of tasks: to bequeath, as philosopher-statesman, a law that would regulate the life of the individual and of society and move people closer to the knowledge of God. The result of that art is a book to be read and experienced, not just consulted. The central feature of Mishneh torah as a work of art is the casting of the commandments of the law in the form of the cosmos. The microcosmic form suggests, in the first place, that studying Mishneh torah, like the study of the universe, can be a way to the knowledge and love of God. On the plane of ideas, this form embodies the relationship between the ‘small thing’ and the ‘great thing’, between halakhah, on the one hand, and physics and metaphysics on the other. It depicts philosophy as the matrix of halakhah, reflecting the view of the relationship between philosophy and religion in the Islamic philosophers.

scholarly journals Structural features of complex hydrochemical systems

2019 ◽  
Vol 127 ◽  
pp. 02029
Author(s):  
Olga Shevtsova
Keyword(s):  
Collective Behavior ◽  
Information Technologies ◽  
System Analysis ◽  
Regression Line ◽  
Mathematical Expression ◽  
Structural Features ◽  
Time Variability ◽  
Hydrochemical Parameters ◽  
Scale Range ◽  
The Individual

The set of non-conservative hydrochemical parameters is considered as a complex system, which displays collective behavior. It is found that the collective behavior is described by the power relation between the time variability (the standard deviations) and the average concentrations of different hydrochemical parameters in the scale range 100 – 0:0001 mg/kg. The exponent can be 0:7 – 0:9. Power law scaling is the mathematical expression of self similarity and fractality. The complex systems of nonconservative chemical parameters have a structure that can be characterized by exponent, normalization coefficient, standard error, correlation coefficient, and by sharp deviations of the individual parameters from the regression line and from the most probable average and standard deviation values, if any. It is shown with specific examples that changes in the hydrochemical systems structure are the result of the manifestation of biogeochemical processes and the dynamics of water. Regression analysis of collective behavior of complex hydrochemical systems is one of the examples of the use of modern information technologies based on the methods of system analysis.

Sign in / Sign up

Export Citation Format

Share Document