Grégory Sempo

Social Integration of Robots into Groups of Cockroaches to Control Self-Organized Choices

Collective behavior based on self-organization has been shown in group-living animals from insects to vertebrates. These findings have stimulated engineers to investigate approaches for the coordination of autonomous multirobot systems based on self-organization. In this experimental study, we show collective decision-making by mixed groups of cockroaches and socially integrated autonomous robots, leading to shared shelter selection. Individuals, natural or artificial, are perceived as equivalent, and the collective decision emerges from nonlinear feedbacks based on local interactions. Even when in the minority, robots can modulate the collective decision-making process and produce a global pattern not observed in their absence. These results demonstrate the possibility of using intelligent autonomous devices to study and control self-organized behavioral patterns in group-living animals.

SwisTrack: A Tracking Tool for Multi-Unit Robotic and Biological Systems

Tracking of miniature robotic platforms involves major challenges in image recognition and data association. We present our 2.5 years effort into developing a platform-independent, easy to use, and robust tracking software SwisTrack, which is tailored to research in swarm robotics and behavioral biology. We demonstrate the software and algorithms abilities using two case studies, tracking of a swarm of cockroaches, and a swarm-robotic inspection task, while outlining hard problems in tracking and data-association of marker-less objects. Its open, platform-independent architecture, and easy-to-use interfaces (Matlab, Java, and C++), allowing for (distributed) post-processing of trajectory data online, make the software highly adaptive to particular research projects without changes to the source code. SwisTrack will be publicly available shortly under the OSI Adaptive License via SourceForge.net.

Group Living Enhances Individual Resources Discrimination: The Use of Public Information by Cockroaches to Assess Shelter Quality

In group-living organisms, consensual decision of site selection results from the interplay between individual responses to site characteristics and to group-members. Individuals independently gather personal information by exploring their environment. Through social interaction, the presence of others provides public information that could be used by individuals and modulates the individual probability of joining/leaving a site. The way that individuals information processing and the network of interactions influence the dynamics of public information (depending on population size) that in turn affect discrimination in site quality is a central question. Using binary choice between sheltering sites of different quality, we demonstrate that cockroaches in group dramatically outperform the problem-solving ability of single individual. Such use of public information allows animals to discriminate between alternatives whereas isolated individuals are ineffective (i.e. the personal discrimination efficiency is weak). Our theoretical results, obtained from a mathematical model based on behavioral rules derived from experiments, highlight that the collective discrimination emerges from competing amplification processes relying on the modulation of the individual sheltering time without shelters comparison and communication modulation. Finally, we well demonstrated here the adaptive value of such decision algorithm. Without any behavioral change, the system is able to shift to a more effective strategy when alternatives are present: the modification of the spatio-temporal distributions of individuals leading to the collective selection of the best resource. This collective discrimination implying such parsimonious and widespread mechanism must be shared by many group living-species.

Self-amplification as a source of interindividual variability: Shelter selection in cockroaches

Although group effect and collective decisions have been described in many insect species, the behavioral mechanisms involved in the process remain poorly documented at the individual level. We examined how individual behavior depends on the environmental context and we precisely characterized the behavioral rules leading to settlement of individual cockroaches in resting site. We focused on the spatial and temporal distribution of individuals in absence of conspecifics. Using isolated adult males of the cockroach Periplaneta americana, we showed that the quality of resting sites and the duration of the settlement exerted an influence on the individual decision-making: the probability of leaving a resting site decreased with the time spent under a shelter. A numerical model derived from experimental data suggested that this simple rule of self-amplification can also account for the interindividual variability.

Group personality during collective decision-making: a multi-level approach.

Collective decision-making processes emerge from social feedback networks within a group. Many studies on collective behaviour underestimate the role of individual personality and, as a result, personality is rarely analysed in the context of collective dynamics. Here, we show evidence of sheltering behaviour personality in a gregarious insect (Periplaneta americana), which is characterized by a collective personality at the group level. We also highlight that the individuals within groups exhibited consistent personality traits in their probability of sheltering and total time sheltered during the three trials over one week. Moreover, the group personality, which arises from the synergy between the distribution of behaviour profiles in the group and social amplifications, affected the sheltering dynamics. However, owing to its robustness, personality did not affect the group probability of reaching a consensus. Finally, to prove social interactions, we developed a new statistical method that will be helpful for future research on personality traits and group behaviour. This approach will help to identify the circumstances under which particular group compositions may improve the fitness of individuals in gregarious species.

Between-species differences of behavioural repertoire of castes in the ant genus Pheidole: a methodological artefact?

SummaryThis study highlights the influence of sampling size on the interpretation of between castes division of labour in the dimorphic ant genus Pheidole. We show that data analyses based on rarefaction curves provide better estimates of caste repertoire sizes. Weighted observations of the two worker castes of Pheidole pallidula reveals that the behavioural repertoire of majors is far more extended than expected. Indeed, majors are not restricted to defence, seed milling or food storage but can additionally participate to within nest activities by carrying out 69% of the minors’ behavioural repertoire including brood care. Besides, we show that inter-specific variation in the size of majors’ behavioural repertoire could simply result from differences in the number of majors observed. Therefore, the ergonomic prediction that the repertoire size of one caste should be correlated to its numerical representation in the colony needs to be re-examined considering between-castes differences in the sampling effort.

Integration of an autonomous artificial agent in an insect society: experimental validation

In mixed societies of robots and cockroaches, several insect-like-robot (Insbot) and animals interact in order to perform collective decision-making Many gregarious species are able to collectively select a resting site without any leadership The key process is based on the modulation of the probability of leaving the shelter according to the total population under this shelter and its light intensity It is important that cockroaches perceive the robot as a “congener” This recognition is mainly based on a chemical blend The aim of this study is to validate experimentally (1) the behavioral patterns expressed by the cockroaches in presence of shelters and of an Insbot, and (2) the important role played by the chemical blend on collective decision-makings.

How brood influences caste aggregation patterns in the dimorphic ant species Pheidole pallidula

Abstract.Spatial distribution of ant workers and, notably their aggregation/segregation behaviour, is a key-element of the colony social organization contributing to the efficiency of task performance and division of labour. In polymorphic species, specialized worker castes notably differ in their intrinsic aggregation behaviour. In this context, knowing the preponderant role of minors in brood care, we investigate how a stimulus such as brood can influence the spatial patterns of Pheidole pallidula worker castes. In a homogeneous area without brood, it was shown that minors display only a low level of aggregation while majors form large clusters in the central area. Here we find out that these aggregation patterns of both minors and majors can be deeply influenced by the presence of brood. For minors, it nucleates or enhances the formation of a large stable cluster. Such high sensitivity of minors to brood stimuli fits well with their role as main brood tenders in the colony. For majors, interattraction between individuals still remains the prevailing aggregation factor while brood strongly influences the localisation of their cluster. We discuss how the balance between interattraction and sensitivity to environmental stimuli determines the mobility of each worker castes and, consequently, the availability of minors and majors to participate in everyday colony tasks. Moreover, we will evoke the functional value of majors’ cluster location close to the brood, namely with respect to social regulation of the colony caste ratio.

From Aggregation to Dispersion: How Habitat Fragmentation Prevents the Emergence of Consensual Decision Making in a Group

In fragmented landscape, individuals have to cope with the fragmentation level in order to aggregate in the same patch and take advantage of group-living. Aggregation results from responses to environmental heterogeneities and/or positive influence of the presence of congeners. In this context, the fragmentation of resting sites highlights how individuals make a compromise between two individual preferences: (1) being aggregated with conspecifics and (2) having access to these resting sites. As in previous studies, when the carrying capacity of available resting sites is large enough to contain the entire group, a single aggregation site is collectively selected. In this study, we have uncoupled fragmentation and habitat loss: the population size and total surface of the resting sites are maintained at a constant value, an increase in fragmentation implies a decrease in the carrying capacity of each shelter. For our model organism, Blattella germanica, our experimental and theoretical approach shows that, for low fragmentation level, a single resting site is collectively selected. However, for higher level of fragmentation, individuals are randomly distributed between fragments and the total sheltered population decreases. In the latter case, social amplification process is not activated and consequently, consensual decision making cannot emerge and the distribution of individuals among sites is only driven by their individual propensity to find a site. This intimate relation between aggregation pattern and landscape patchiness described in our theoretical model is generic for several gregarious species. We expect that any group-living species showing the same structure of interactions should present the same type of dispersion-aggregation response to fragmentation regardless of their level of social complexity.

How does starvation affect spatial organization within nests in Lasius niger

Spatial distribution of ant workers within the nest is a key element of the colony social organization contributing to the efficiency of task performance and division of labour. Spatial distribution must be efficiently organized when ants are highly starved and have to get food rapidly. By studying ants’ behaviour within the nest during the beginning of food recruitment, this study demonstrates how the spatial organization is affected by starvation and improves the efficiency and the speed of recruitment as well as the allocation of food. (1) In starved nests, nestmates left the deep part of the nest and crowded near the nest entrance. This modification of the spatial distribution is a local phenomenon concerning only the individuals situated in the first chamber near the nest entrance. These starved individuals have a higher probability of leaving the nest after a contact with recruiters than nestmates situated deeper in the nest. This strongly suggests that nestmates situated near the nest entrance have a low response threshold to the signals emitted by recruiters. Their higher responsiveness speeds up their exit to the foraging area and hence may increase the efficiency of highly starved colonies in exploiting new food opportunities. (2) In starved nests, the trajectory covered by recruiters between contacts with nestmates was nearly twice as small. For recruiters, this represented a gain of time in the allocation of food. As the recruitment process follows snowball dynamics, this gain of time by starved recruiters might also speed up the exploitation of food. This study evidences how the spatial distribution of individuals as a function of their motivational state might have a regulatory function in the recruitment process, which should be generic for many social species.