Stigmergic landmark foraging

In this paper, we describe a nature-inspired optimization algorithm based on bee foraging behavior. This algorithm combines the high performance of bee path-integration navigation with ant-like stigmergic behavior in the form of landmarks. More precisely, each individual landmark can be created at any walkable state in the environment and contains a collection of direction markers with which visiting agents can find their way in an unknown environment. A landmark can either be represented by an agent or any other information distributing object (e.g., a RFID). Essentially, we implement ant recruitment behavior based on pheromone. However, instead of using attracting or repelling pheromone in every state of the environment, we only update directional information at key locations in the environment. The resulting algorithm, which we call Stigmergic Landmark Foraging (SLF), proves to be very efficient in terms of building and adapting solutions.

[1]  Karl Tuyls,et al.  Bee behaviour in multi-agent systems: a bee foraging algorithm , 2005 .

[2]  T. S. Collett,et al.  Landmark learning in bees , 1983, Journal of comparative physiology.

[3]  Philippe Gaussier,et al.  The visual homing problem: An example of robotics/biology cross fertilization , 2000, Robotics Auton. Syst..

[4]  J. Deneubourg,et al.  The self-organizing exploratory pattern of the argentine ant , 1990, Journal of Insect Behavior.

[6]  T. Collett,et al.  Visual landmarks and route following in desert ants , 1992, Journal of Comparative Physiology A.

[7]  Bernhard Schölkopf,et al.  Where did I take that snapshot? Scene-based homing by image matching , 1998, Biological Cybernetics.

[8]  Kunze,et al.  The knowledge base of bee navigation , 1996, The Journal of experimental biology.

[9]  Ulrich Nehmzow,et al.  Landmark-based navigation for a mobile robot , 1998 .

[10]  Thomas Stützle,et al.  Ant Colony Optimization , 2009, EMO.

[11]  R Wehner,et al.  Path integration in desert ants, Cataglyphis fortis. , 1988, Proceedings of the National Academy of Sciences of the United States of America.

[12]  Thomas Stützle,et al.  Ant Colony Optimization Theory , 2004 .

[13]  H. Stanley,et al.  Lévy flights in random searches , 2000 .

[14]  R. Pfeifer,et al.  A mobile robot employing insect strategies for navigation , 2000, Robotics Auton. Syst..

[15]  Dídac Busquets,et al.  A Multiagent Approach to Qualitative Landmark-Based Navigation , 2003, Auton. Robots.

[16]  Bernhard Schölkopf,et al.  Learning View Graphs for Robot Navigation , 1997, AGENTS '97.

[17]  T. Seeley,et al.  Modeling and analysis of nest-site selection by honeybee swarms: the speed and accuracy trade-off , 2005, Behavioral Ecology and Sociobiology.

[18]  K. Frisch.  The dance language and orientation of bees , 1967 .

[19]  P. Gaussiera,et al.  The visual homing problem : An example of robotics / biology cross fertilization , 1999 .

[20]  A. Vlasak.  Global and local spatial landmarks: their role during foraging by Columbian ground squirrels (Spermophilus columbianus) , 2005, Animal Cognition.

[21]  L. Chittka,et al.  The significance of landmarks for path integration in homing honeybee foragers , 1995, Naturwissenschaften.

[22]  Karl Tuyls,et al.  Bee System with inhibition Pheromones , 2007 .

[23]  Ann Nowé,et al.  Bee Behaviour in Multi-agent Systems , 2007, Adaptive Agents and Multi-Agents Systems.

[24]  Karl Tuyls,et al.  Stigmergic landmarks lead the way , 2008 .

[25]  Ralf Möller,et al.  Insect visual homing strategies in a robot with analog processing , 2000, Biological Cybernetics.

[26]  Thomas S Collett,et al.  The use of landmarks and panoramic context in the performance of local vectors by navigating honeybees. , 2002, The Journal of experimental biology.

[27]  Thomas S. Collett,et al.  Memory use in insect visual navigation , 2002, Nature Reviews Neuroscience.

[28]  T. Collett,et al.  The use of visual landmarks by honeybees: Bees weight landmarks according to their distance from the goal , 1987, Journal of Comparative Physiology A.

[29]  T. Collett,et al.  Local and global vectors in desert ant navigation , 1998, Nature.

[30]  T. Collett,et al.  Insect navigation en route to the goal: multiple strategies for the use of landmarks , 1996, The Journal of experimental biology.