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Evolving flocking in embodied agents based on local and global application of Reynolds' rules.

ABSTRACT: In large scale systems of embodied agents, such as robot swarms, the ability to flock is essential in many tasks. However, the conditions necessary to artificially evolve self-organised flocking behaviours remain unknown. In this paper, we study and demonstrate how evolutionary techniques can be used to synthesise flocking behaviours, in particular, how fitness functions should be designed to evolve high-performing controllers. We start by considering Reynolds' seminal work on flocking, the boids model, and design three components of a fitness function that are directly based on his three local rules to enforce local separation, cohesion and alignment. Results show that embedding Reynolds' rules in the fitness function can lead to the successful evolution of flocking behaviours. However, only local, fragmented flocking behaviours tend to evolve when fitness scores are based on the individuals' conformity to Reynolds' rules. We therefore modify the components of the fitness function so that they consider the entire group of agents simultaneously, and find that the resulting behaviours lead to global flocking. Furthermore, the results show that alignment need not be explicitly rewarded to successfully evolve flocking. Our study thus represents a significant step towards the use of evolutionary techniques to synthesise collective behaviours for tasks in which embodied agents need to move as a single, cohesive group.

SUBMITTER: Ramos RP

PROVIDER: S-EPMC6818765 | biostudies-literature | 2019

REPOSITORIES: biostudies-literature

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Evolving flocking in embodied agents based on local and global application of Reynolds' rules.

Ramos Rita Parada RP Oliveira Sancho Moura SM Vieira Susana Margarida SM Christensen Anders Lyhne AL

PloS one 20191029 10

In large scale systems of embodied agents, such as robot swarms, the ability to flock is essential in many tasks. However, the conditions necessary to artificially evolve self-organised flocking behaviours remain unknown. In this paper, we study and demonstrate how evolutionary techniques can be used to synthesise flocking behaviours, in particular, how fitness functions should be designed to evolve high-performing controllers. We start by considering Reynolds' seminal work on flocking, the boid ...[more]

PMID: 31661526

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Project description:BackgroundEmbodied conversational agents (ECAs) are computer-generated characters that simulate key properties of human face-to-face conversation, such as verbal and nonverbal behavior. In Internet-based eHealth interventions, ECAs may be used for the delivery of automated human support factors.ObjectiveWe aim to provide an overview of the technological and clinical possibilities, as well as the evidence base for ECA applications in clinical psychology, to inform health professionals about the activity in this field of research.MethodsGiven the large variety of applied methodologies, types of applications, and scientific disciplines involved in ECA research, we conducted a systematic scoping review. Scoping reviews aim to map key concepts and types of evidence underlying an area of research, and answer less-specific questions than traditional systematic reviews. Systematic searches for ECA applications in the treatment of mood, anxiety, psychotic, autism spectrum, and substance use disorders were conducted in databases in the fields of psychology and computer science, as well as in interdisciplinary databases. Studies were included if they conveyed primary research findings on an ECA application that targeted one of the disorders. We mapped each study's background information, how the different disorders were addressed, how ECAs and users could interact with one another, methodological aspects, and the study's aims and outcomes.ResultsThis study included N=54 publications (N=49 studies). More than half of the studies (n=26) focused on autism treatment, and ECAs were used most often for social skills training (n=23). Applications ranged from simple reinforcement of social behaviors through emotional expressions to sophisticated multimodal conversational systems. Most applications (n=43) were still in the development and piloting phase, that is, not yet ready for routine practice evaluation or application. Few studies conducted controlled research into clinical effects of ECAs, such as a reduction in symptom severity.ConclusionsECAs for mental disorders are emerging. State-of-the-art techniques, involving, for example, communication through natural language or nonverbal behavior, are increasingly being considered and adopted for psychotherapeutic interventions in ECA research with promising results. However, evidence on their clinical application remains scarce. At present, their value to clinical practice lies mostly in the experimental determination of critical human support factors. In the context of using ECAs as an adjunct to existing interventions with the aim of supporting users, important questions remain with regard to the personalization of ECAs' interaction with users, and the optimal timing and manner of providing support. To increase the evidence base with regard to Internet interventions, we propose an additional focus on low-tech ECA solutions that can be rapidly developed, tested, and applied in routine practice.

Project description:BackgroundAs the world's population rapidly ages, the number of older adults with cognitive impairment will also increase. Several studies have identified numerous complex needs of people with dementia, which assistive technologies still fail to support. Recent trends have led to an increasing focus on the use of embodied conversational agents (ECAs) as virtual entities able to interact with a person through natural and familiar verbal and nonverbal communication. The use of ECAs could improve the accessibility and acceptance of assistive technologies matching those high-level needs that are not well covered to date.ObjectiveThe aim of this thematic literature analysis was to map current studies in the field of designing ECAs for patients with dementia in order to identify the existing research trend and possible gaps that need to be covered in the near future. The review questions in this study were as follows: (1) what research frameworks are used to study the interaction between patients with dementia and ECAs? (2) what are the findings? and (3) what are the barriers reported in these studies?MethodsSeparate literature searches were conducted in PubMed, Web of Science, Scopus, and Embase databases by using specific umbrella phrases to target the population (patients with dementia) and the technology-based intervention (embodied conversational agent). Studies that met the inclusion criteria were appraised through the Mixed Methods Appraisal Tool and then discussed in a thematic analysis.ResultsThe search process identified 115 records from the databases and study references. After duplicates (n=45) were removed, 70 papers remained for the initial screening. A total of 7 studies were finally included in the qualitative synthesis. A thematic analysis of the reviewed studies identified major themes and subthemes: the research frameworks used to gather users' perspectives on ECAs (theme 1), the insights shared by the 7 studies as well as the value of user involvement in the development phases and the challenge of matching the system functionalities with the users' needs (theme 2), and the main methodological and technical problems faced by each study team (theme 3).ConclusionsOur thematic literature analysis shows that the field of ECAs is novel and poorly discussed in the scientific community and that more sophisticated study designs and proofs of efficacy of the approach are required. Therefore, by analyzing the main topic of the narrative review, this study underscores the challenge of synchronizing and harmonizing knowledge, efforts, and challenges in the dementia care field and its person-centered paradigm through the user-centered design approach. Enabling strict collaboration between interdisciplinary research networks, medical scientists, technology developers, patients, and their formal and informal caregivers is still a great challenge in the field of technologies for older adults.

Dataset Information

Evolving flocking in embodied agents based on local and global application of Reynolds' rules.

Publications

Evolving flocking in embodied agents based on local and global application of Reynolds' rules.

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