Robot swarm democracy: the importance of informed individuals against zealots

In this paper we study a generalized case of best-of-n model, which considers three kind of agents: zealots, individuals who remain stubborn and do not change their opinion; informed agents, individuals that can change their opinion, are able to assess the quality of the different options; and uninformed agents, individuals that can change their opinion but are not able to assess the quality of the different opinions. We study the consensus in different regimes: we vary the quality of the options, the percentage of zealots and the percentage of informed versus uninformed agents. We also consider two decision mechanisms: the voter and majority rule. We study this problem using numerical simulations and mathematical models, and we validate our findings on physical kilobot experiments. We find that (1) if the number of zealots for the lowest quality option is not too high, the decision-making process is driven toward the highest quality option; (2) this effect can be improved increasing the number of informed agents that can counteract the effect of adverse zealots; (3) when the two options have very similar qualities, in order to keep high consensus to the best quality it is necessary to have higher proportions of informed agents.

Ant colony optimization for feasible scheduling of step-controlled smart grid generation

The electrical energy grid is currently experiencing a paradigm shift in control. In the future, small and decentralized energy resources will have to responsibly perform control tasks like frequency or voltage control. For many use cases, scheduling of energy resources is necessary. In the multi-dimensional discrete case–e.g., for step-controlled devices–this is an NP-hard problem if some sort of intermediate energy buffer is involved. Systematically constructing feasible solutions during optimization, hence, becomes a difficult task. We prove the NP-hardness for the example of co-generation plants and demonstrate the multi-modality of systematically designing feasible solutions. For the example of day-ahead scheduling, a model-integrated solution based on ant colony optimization has already been proposed. By using a simulation model for deciding on feasible branches, artificial ants construct the feasible search graphs on demand. Thus, the exponential growth of the graph in this combinatorial problem is avoided. We present in this extended work additional insight into the complexity and structure of the underlying the feasibility landscape and additional simulation results.

Discrete collective estimation in swarm robotics with distributed Bayesian belief sharing

Multi-option collective decision-making is a challenging task in the context of swarm intelligence. In this paper, we extend the problem of collective perception from simple binary decision-making of choosing the color in majority to estimating the most likely fill ratio from a series of discrete fill ratio hypotheses. We have applied direct comparison (DC) and direct modulation of voter-based decisions (DMVD) to this scenario to observe their performances in a discrete collective estimation problem. We have also compared their performances against an Individual Exploration baseline. Additionally, we propose a novel collective decision-making strategy called distributed Bayesian belief sharing (DBBS) and apply it to the above discrete collective estimation problem. In the experiments, we explore the performances of considered collective decision-making algorithms in various parameter settings to determine the trade-off among accuracy, speed, message transfer and reliability in the decision-making process. Our results show that both DC and DMVD outperform the Individual Exploration baseline, but both algorithms exhibit different trade-offs with respect to accuracy and decision speed. On the other hand, DBBS exceeds the performances of all other considered algorithms in all four metrics, at the cost of higher communication complexity.