A macroscopic model of an aggregation experiment using embodied agents in groups of time-varying sizes

Abstract

In this paper, we present a mathematical model of an aggregation experiment carried out using multiple embodied agents in teams of time-varying sizes. The aggregation experiment is concerned with the gathering and the clustering of small objects initially scattered in an enclosed arena. The number of active agents engaged in the aggregation task is varying according to a local, distributed stimulus-response law, similar to the behavior observed in ant colonies. We use a set of differential equations to describe the dynamics of the system at the macroscopic level. We validate the predictions of this model by comparing them to experimental data obtained using a sensor-based embodied simulator. Results show that the proposed approach delivers accurate predictions and constitutes a computationally efficient tool for studying aggregation experiments with groups of constant or variable sizes. The simplicity of the model suggests that it is easily applicable to other aggregation or segregation experiments characterized by different agent capabilities and individual control algorithms.

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