L11 - Swarm Intelligence: Flocking Behaviour Flashcards

1
Q

Define what is meant by swam behaviour?

A

Behaviour which individuals of the swarm can’t perform or at least can’t perform optimally. But as a group, the behaviour can be performed.

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2
Q

Explain the Slime-Mold example of swarm behaviour…

A

An amoeba that is attracted to and eats matter, but can’t scavenge effectively on its own. If it can’t find food, it splits and duplicates into a collective being (Swarm) that can find food more effectively.

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3
Q

What are some of the types of collective movements?

A
  1. Flocking / Shoaling
  2. Swarms
  3. Formation travelling
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4
Q

Define Natural Movements and Artificial Movements…

A

Natural -> 2D and 3D movements that represent the natural world.

Artificial -> 1D movement ( can only move forward and backward ). E.g a train.

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5
Q

What is emergent behaviour?

A

One of the main properties of flocking in which the movement of the flock naturally converges to be one.

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6
Q

What is Multi-Agent Movements? If it flocking?

A

A scenario in which many agents are moving similarly, but are not necessarily flocking. For example robots moving in a pre-defined route.

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7
Q

Give the characteristics of flocking…

A
  1. No leader
  2. Dynamic movement as a flock
  3. Reactive to predators and obstacles
  4. No collision between flock members
  5. Tolerant of movement within flocks
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8
Q

What are the 2 ways a flock might react to predators?

A

Flash Expansion -> Swarm disperses in different directions.

Fountain Effect -> Swarms splits and travels around the predator.

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9
Q

Give some benefits of flocking…

A
  1. Increase speed
  2. Increase range
  3. Reduce turbulence for back of flock.
  4. Can confuse predators
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10
Q

Groups migration reduces directional error of the flock. For a flock of N birds, what is the formula to calculate the flock error?

A

1 / sqrt(N)

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11
Q

What is a Boid? What are it’s properties?

A

A digital representation of a member of a flock.

  • Has direction
  • Local awareness -> Only interested in an actions of neighbouring boids.
  • Blind spot -> All have a blind spot to represent real animals.
  • Identical -> All boids are identical.
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12
Q

Who created Boids? What was the motivation?

A

Craig Reynolds ( 1987 )

A way to digitally simulate flocking in a computationally cheap way.

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13
Q

What were Reynolds rules for flocking?

A

Separation -> Steer boids to avoid neighbours

Alignment -> Steer towards average heading of flock mates.

Cohesion -> Steer towards average position of flock mates.

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14
Q

What are the characteristics of Reynolds Flock?

A
  • Synchronise direction changes
  • Flocks merge if they meet
  • Flash expansion occurs if flocks start together
  • If started too far apart, multiple flocks occur which will slowly converge into one
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