Ants are fascinating creatures - not so much because they are intelligent on their own, but because as a group they display compelling emergent behaviour (the extent to which one observes features in a swarm which cannot be traced back to the actions of swarm members). What does each swarm member do which allows deliberate engineering of emergent behaviour? We investigate the development of a language for programming swarms of ant agents towards desired emergent behaviour. Five aspects of stigmergic (pheromone sensitive computational devices in which a non-symbolic form of communication that is indirectly mediated via the environment arises) and message passing ant agents (computational devices which rely on implicit communication spaces in which direction vectors are shared one-on-one) are studied. First, we investigate the primitive behaviours which characterize ant agents' discrete actions at individual levels. Ten such primitive behaviours are identified as candidate building blocks of the ant agent language sought. We then study mechanisms in which primitive behaviours are put together into XSets (collection of primitive behaviours, parameter values, and meta information which spells out how and when primitive behaviours are used). Various permutations of XSets are possible which define the search space for best performer XSets for particular tasks. Genetic programming principles are proposed as a search strategy for best performer XSets that would allow particular emergent behaviour to occur. XSets in the search space are evolved over various genetic generations and tested for abilities to allow path finding (as proof of concept). XSets are ranked according to the indices of merit (fitness measures which indicate how well XSets allow particular emergent behaviour to occur) they achieve. Best performer XSets for the path finding task are identifed and reported. We validate the results yield when best performer XSets are used with regard to normality, correlation, similarities in variation, and similarities between mean performances over time. Commonly, the simulation results yield pass most statistical tests. The last aspect we study is the application of best performer XSets to different problem tasks. Five experiments are administered in this regard. The first experiment assesses XSets' abilities to allow multiple targets location (ant agents' abilities to locate continuous regions of targets), and found out that best performer XSets are problem independent. However both categories of XSets are sensitive to changes in agent density. We test the influences of individual primitive behaviours and the effects of the sequences of primitive behaviours to the indices of merit of XSets and found out that most primitive behaviours are indispensable, especially when specific sequences are prescribed. The effects of pheromone dissipation to the indices of merit of stigmergic XSets are also scrutinized. Precisely, dissipation is not causal. Rather, it enhances convergence. Overall, this work successfully identify the discrete primitive behaviours of stigmergic and message passing ant-like devices. It successfully put these primitive behaviours together into XSets which characterize a language for programming ant-like devices towards desired emergent behaviour. This XSets approach is a new ant language representation with which a wider domain of emergent tasks can be resolved.
| Identifer | oai:union.ndltd.org:netd.ac.za/oai:union.ndltd.org:rhodes/vital:4698 |
| Date | January 2014 |
| Creators | Chibaya, Colin |
| Publisher | Rhodes University, Faculty of Science, Computer Science |
| Source Sets | South African National ETD Portal |
| Language | English |
| Detected Language | English |
| Type | Thesis, Doctoral, PhD |
| Format | 349 leaves, pdf |
| Rights | Chibaya, Colin |
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