Biologically motivated shape optimization of foraging fronts

Social animals often form a predator front to charge through an aggregation of prey. It is observed that the nature of the feeding strategy dictates the geometric shape of these charging fronts. Inspired by this observation, we model foraging multi-robot fronts as a curve moving through a prey density. We optimize the shape of the curve using variational arguments and simulate the results to illustrate the operation of the proposed curve optimization algorithm.

[1]  C. Packer,et al.  Complex cooperative strategies in group-territorial African lions , 1995, Science.

[2]  Maja J. Mataric,et al.  On foraging strategies for large-scale multi-robot systems , 2006, 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[3]  W. Clem Karl,et al.  A fast level set method without solving PDEs [image segmentation applications] , 2005, Proceedings. (ICASSP '05). IEEE International Conference on Acoustics, Speech, and Signal Processing, 2005..

[4]  Magnus Egerstedt,et al.  A Hybrid, Multi-Agent Model of Foraging Bottlenose Dolphins , 2009, ADHS.

[5]  Tucker R. Balch.  The impact of diversity on performance in multi-robot foraging , 1999, AGENTS '99.

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

[7]  Tony F. Chan,et al.  Active contours without edges , 2001, IEEE Trans. Image Process..

[8]  H. Pak,et al.  Dynamics of prey-flock escaping behavior in response to predator's attack. , 2006, Journal of theoretical biology.

[9]  Magnus Egerstedt,et al.  Geometric foraging strategies in multi-agent systems based on biological models , 2010, 49th IEEE Conference on Decision and Control (CDC).

[10]  Magnus Egerstedt,et al.  Laplacian Sheep: A Hybrid, Stop-Go Policy for Leader-Based Containment Control , 2006, HSCC.

[11]  Jack J. Dongarra,et al.  A Parallel Algorithm for the Nonsymmetric Eigenvalue Problem , 1991, SIAM J. Sci. Comput..

[12]  James D. Murray.  Mathematical Biology: I. An Introduction , 2007 .

[13]  J. G. F. Francis,et al.  The QR Transformation A Unitary Analogue to the LR Transformation - Part 1 , 1961, Comput. J..

[14]  Marco Dorigo,et al.  Self-Organised Task Allocation in a Group of Robots , 2004, DARS.

[15]  Stuart A. Altmann,et al.  Estes, R. D. The Behavior Guide to African Mammals, Including Hoofed Mammals, Carnivores and Primates. University of California Press, Berkeley, California , 1992 .

[16]  Maolin Tang.  A Hybrid , 2010 .

[17]  Craig Packer,et al.  Divided We Fall: Cooperation among Lions , 1997 .

[18]  Anthony Yezzi,et al.  Hybrid geodesic region-based curve evolutions for image segmentation , 2007, SPIE Medical Imaging.

[19]  Huibert Kwakernaak,et al.  Modern signals and systems , 1991 .