Cooperation and deception through stigmergic interactions in human groups.

Stigmergy is a generic coordination mechanism widely used by animal societies, in which traces left by individuals in a medium guide and stimulate their subsequent actions. In humans, new forms of stigmergic processes have emerged through the development of online services that extensively use the digital traces left by their users. Here, we combine interactive experiments with faithful data-based modeling to investigate how groups of individuals exploit a simple rating system and the resulting traces in an information search task in competitive or noncompetitive conditions. We find that stigmergic interactions can help groups to collectively find the cells with the highest values in a table of hidden numbers. We show that individuals can be classified into three behavioral profiles that differ in their degree of cooperation. Moreover, the competitive situation prompts individuals to give deceptive ratings and reinforces the weight of private information versus social information in their decisions.

Self-organized biotectonics of termite nests.

The termite nest is one of the architectural wonders of the living world, built by the collective action of workers in a colony. Each nest has several characteristic structural motifs that allow for efficient ventilation, cooling, and traversal. We use tomography to quantify the nest architecture of the African termite Apicotermes lamani, consisting of regularly spaced floors connected by scattered linear and helicoidal ramps. To understand how these elaborate structures are built and arranged, we formulate a minimal model for the spatiotemporal evolution of three hydrodynamic fields-mud, termites, and pheromones-linking environmental physics to collective building behavior using simple local rules based on experimental observations. We find that floors and ramps emerge as solutions of the governing equations, with statistics consistent with observations of A. lamani nests. Our study demonstrates how a local self-reinforcing biotectonic scheme is capable of generating an architecture that is simultaneously adaptable and functional, and likely to be relevant for a range of other animal-built structures.

Sub-cell scale features govern the placement of new cells by honeybees during comb construction.

Honeybee comb architecture and the manner of its construction have long been the subject of scientific curiosity. Comb is characterised by an even hexagonal layout and the sharing of cell bases and side walls, which provides maximised storage volume while requiring minimal wax. The efficiency of this structure relies on a regular layout and the correct positioning of cells relative to each other, with each new cell placed at the junction of two previously constructed cells. This task is complicated by the incomplete nature of cells at the edge of comb, where new cells are to be built. We presented bees with wax stimuli comprising shallow depressions and protuberances in simulation of features found within partially formed comb, and demonstrated that construction work by honeybee builders was influenced by these stimuli. The building of new cells was aligned to concave stimuli that simulated the clefts that naturally appear between two partially formed cells, revealing how new cells may be aligned to ensure proper tessellation within comb. We also found that bees built cell walls in response to edges formed by our stimuli, suggesting that cell and wall construction was specifically directed towards the locations necessary for continuation of hexagonal comb.

SCAMP's stigmergic model of social conflict.

SCAMP (Social Causality using Agents with Multiple Perspectives) is one of four social simulators that generated socially realistic data for the Ground Truth program. Unlike the other three simulators, it is based on a computational principle, stigmergy, inspired by social insects. Using this approach, we modeled conflict in a nation-state inspired by the ongoing scenario in Syria. This paper summarizes stigmergy and describes the Conflict World we built in SCAMP.

Waste deposition in leaf-cutting ants is guided by olfactory cues from waste.

Social insects often use olfactory cues from their environment to coordinate colony tasks. We investigated whether leaf-cutting ants use volatiles as cues to guide the deposition of their copious amounts of colony refuse. In the laboratory, we quantified the relocation of a small pile of colony waste by workers of Atta laevigata towards volatiles offered at each side of the pile as a binary choice, consisting of either waste volatiles, fungus volatiles, or no volatiles. Fungus volatiles alone did not evoke relocation of waste. Waste volatiles alone, by contrast, led to a strong relocation of waste particles towards them. When fungus and waste volatiles were tested against each other, waste particles were also relocated towards waste volatiles, and in a high percentage of assays completely moved away from the source of fungus volatiles as compared to the previous series. We suggest that deposition and accumulation of large amounts of refuse in single external heaps or a few huge underground waste chambers of Atta nests is due to both olfactory preferences and stigmergic responses towards waste volatiles by waste-carrying workers.

Stigmergic construction and topochemical information shape ant nest architecture.

The nests of social insects are not only impressive because of their sheer complexity but also because they are built from individuals whose work is not centrally coordinated. A key question is how groups of insects coordinate their building actions. Here, we use a combination of experimental and modeling approaches to investigate nest construction in the ant Lasius niger. We quantify the construction dynamics and the 3D structures built by ants. Then, we characterize individual behaviors and the interactions of ants with the structures they build. We show that two main interactions are involved in the coordination of building actions: (i) a stigmergic-based interaction that controls the amplification of depositions at some locations and is attributable to a pheromone added by ants to the building material; and (ii) a template-based interaction in which ants use their body size as a cue to control the height at which they start to build a roof from existing pillars. We then develop a 3D stochastic model based on these individual behaviors to analyze the effect of pheromone presence and strength on construction dynamics. We show that the model can quantitatively reproduce key features of construction dynamics, including a large-scale pattern of regularly spaced pillars, the formation and merging of caps over the pillars, and the remodeling of built structures. Finally, our model suggests that the lifetime of the pheromone is a highly influential parameter that controls the growth and form of nest architecture.

Using Stigmergy to Distinguish Event-Specific Topics in Social Discussions.

In settings wherein discussion topics are not statically assigned, such as in microblogs, a need exists for identifying and separating topics of a given event. We approach the problem by using a novel type of similarity, calculated between the major terms used in posts. The occurrences of such terms are periodically sampled from the posts stream. The generated temporal series are processed by using marker-based stigmergy, i.e., a biologically-inspired mechanism performing scalar and temporal information aggregation. More precisely, each sample of the series generates a functional structure, called mark, associated with some concentration. The concentrations disperse in a scalar space and evaporate over time. Multiple deposits, when samples are close in terms of instants of time and values, aggregate in a trail and then persist longer than an isolated mark. To measure similarity between time series, the Jaccard's similarity coefficient between trails is calculated. Discussion topics are generated by such similarity measure in a clustering process using Self-Organizing Maps, and are represented via a colored term cloud. Structural parameters are correctly tuned via an adaptation mechanism based on Differential Evolution. Experiments are completed for a real-world scenario, and the resulting similarity is compared with Dynamic Time Warping (DTW) similarity.

Excavation and aggregation as organizing factors in de novo construction by mound-building termites.

Termites construct complex mounds that are orders of magnitude larger than any individual and fulfil a variety of functional roles. Yet the processes through which these mounds are built, and by which the insects organize their efforts, remain poorly understood. The traditional understanding focuses on stigmergy, a form of indirect communication in which actions that change the environment provide cues that influence future work. Termite construction has long been thought to be organized via a putative 'cement pheromone': a chemical added to deposited soil that stimulates further deposition in the same area, thus creating a positive feedback loop whereby coherent structures are built up. To investigate the detailed mechanisms and behaviours through which termites self-organize the early stages of mound construction, we tracked the motion and behaviour of major workers from two Macrotermes species in experimental arenas. Rather than a construction process focused on accumulation of depositions, as models based on cement pheromone would suggest, our results indicated that the primary organizing mechanisms were based on excavation. Digging activity was focused on a small number of excavation sites, which in turn provided templates for soil deposition. This behaviour was mediated by a mechanism of aggregation, with termites being more likely to join in the work at an excavation site as the number of termites presently working at that site increased. Statistical analyses showed that this aggregation mechanism was a response to active digging, distinct from and unrelated to putative chemical cues that stimulate deposition. Agent-based simulations quantitatively supported the interpretation that the early stage of de novo construction is primarily organized by excavation and aggregation activity rather than by stigmergic deposition.

When social behaviour is moulded in clay: on growth and form of social insect nests.

The nests built by social insects are among the most complex structures produced by animal groups. They reveal the social behaviour of a colony and as such they potentially allow comparative studies. However, for a long time, research on nest architecture was hindered by the lack of technical tools allowing the visualisation of their complex 3D structures and the quantification of their properties. Several techniques, developed over the years, now make it possible to study the organisation of these nests and how they are built. Here, we review present knowledge of the mechanisms of nest construction, and how nest structure affects the behaviour of individual insects and the organisation of activities within a colony.

The inheritance of alternative nest architectural traditions in stingless bees.

The transmission of complex behavior and culture in humans has long been attributed to advanced forms of social learning,1,2 which play a crucial role in our technological advancement.3 While similar phenomena of behavioral traditions and cultural inheritance have been observed in animals,1,2,4,5,6 including in primates,7 whales,8 birds,9 and even insects,10 the underlying mechanisms enabling the persistence of such animal traditions, particularly in insects, are less well understood. This study introduces pioneering evidence of enduring architectural traditions in the stingless bee Scaptotrigona depilis, which are maintained without any evidence for social learning. We demonstrate that S. depilis exhibits two distinct nest architectures, comprising either helicoidal or flat, stacked horizontal combs, which are transmitted across generations through stigmergy11,12,13,14,15,16,17-an environmental feedback mechanism whereby the presence of the existing comb structures guides subsequent construction behaviors-thereby leading to a form of environmental inheritance.18,19,20 Cross-fostering experiments further show that genetic factors or prior experience does not drive the observed variation in nest architecture. Moreover, the experimental introduction of corkscrew dislocations within the combs prompted helicoidal building, confirming the use of stigmergic building rules. At a theoretical level, we establish that the long-term equilibrium of building in the helicoidal pattern fits with the expectations of a two-state Markov chain model. Overall, our findings provide compelling evidence for the persistence of behavioral traditions in an insect, based on a simple mechanism of environmental inheritance and stigmergic interactions, without requiring any sophisticated learning mechanism, thereby expanding our understanding of how traditions can be maintained in non-human species.

The role of hydrodynamics in collective motions of fish schools and bioinspired underwater robots.

Collective behaviour defines the lives of many animal species on the Earth. Underwater swarms span several orders of magnitude in size, from coral larvae and krill to tunas and dolphins. Agent-based algorithms have modelled collective movements of animal groups by use of social forces, which approximate the behaviour of individual animals. But details of how swarming individuals interact with the fluid environment are often under-examined. How do fluid forces shape aquatic swarms? How do fish use their flow-sensing capabilities to coordinate with their schooling mates? We propose viewing underwater collective behaviour from the framework of fluid stigmergy, which considers both physical interactions and information transfer in fluid environments. Understanding the role of hydrodynamics in aquatic collectives requires multi-disciplinary efforts across fluid mechanics, biology and biomimetic robotics. To facilitate future collaborations, we synthesize key studies in these fields.

Immunity and security using holism, ambient intelligence, triangulation, and stigmergy: Sensitivity analysis confronts fake news and COVID-19 using open set transduction.

This paper introduces a multi-faceted security methodology based on Holism, Ambient Intelligence, Triangulation, and Stigmergy (HATS) to combat the spread of current pandemics such as fake news and COVID-19. HATS leverages the apparent complementarity and similarity of physical and mental pandemics using adversarial learning and transduction to promote immunity on both using conformal prediction and principled symbiosis. As such, HATS confronts both mental and physical adversity found in misinformation and disinformation. It confers herd immunity using holism and triangulation that call to advantage on sensitivity analysis using open set transduction and meta-reasoning. Ambient intelligence and stigmergy further mediate meta-reasoning and re-identification in building and sharing immunity. As change is constant and everything is fluid, as truth is not always reality and reality is not always truth, and as truth is imponderable and lie can become truth, two things have to happen. First, reconditioning and reconfiguration engage random deficiency to discern familiarity from strangeness and a-typicality. Second, transfer learning using trans-adaptation and transposition, serve adaptation and interoperability. Together, this empowers open set transduction in facing adaptive persistent threats such as deception and denial when it engages moving target defense using modification and de-identification. Immunology and security further come together using to advantage the coupling of active and adversarial learning.

Design for financial sustainability.

The 1987 United Nations Brundtland Report established the vision of sustainable development as "development that meets the needs of the present without compromising the ability of future generations to meet their own needs." How might we anticipate the requirements of future custodians of vast, continuously morphing socio-technical-ecological systems while addressing current pressing needs? An abstract, principled approach (such as axiomatic design) might help address such ambiguity. Such systems are composed of large numbers of information-processing agents/agencies that collectively form a complex adaptive system (CAS). The focus here is on financial sustainability: (1) what is a principled approach toward sustainable design? (2) What design insights might we obtain by studying financial crises forensically against sustainability successes in nature? (3) How to design for financial sustainability? This paper adopts the CAS framework alongside axiomatic design to help elicit design patterns and anti-patterns of sustainability. Inspired by nature, a promising inside-out design pattern emerges.

Validating a Termite-Inspired Construction Coordination Mechanism Using an Autonomous Robot.

Many species of termites build large, structurally complex mounds, and the mechanisms behind this coordinated construction have been a longstanding topic of investigation. Recent work has suggested that humidity may play a key role in the mound expansion of savannah-dwelling Macrotermes species: termites preferentially deposit soil on the mound surface at the boundary of the high-humidity region characteristic of the mound interior, implying a coordination mechanism through environmental feedback where addition of wet soil influences the humidity profile and vice versa. Here we test this potential mechanism physically using a robotic system. Local humidity measurements provide a cue for material deposition. As the analogue of the termite's deposition of wet soil and corresponding local increase in humidity, the robot drips water onto an absorbent substrate as it moves. Results show that the robot extends a semi-enclosed area outward when air is undisturbed, but closes it off when air is disturbed by an external fan, consistent with termite building activity in still vs. windy conditions. This result demonstrates an example of adaptive construction patterns arising from the proposed coordination mechanism, and supports the hypothesis that such a mechanism operates in termites.

Active Inferants: An Active Inference Framework for Ant Colony Behavior.

In this paper, we introduce an active inference model of ant colony foraging behavior, and implement the model in a series of in silico experiments. Active inference is a multiscale approach to behavioral modeling that is being applied across settings in theoretical biology and ethology. The ant colony is a classic case system in the function of distributed systems in terms of stigmergic decision-making and information sharing. Here we specify and simulate a Markov decision process (MDP) model for ant colony foraging. We investigate a well-known paradigm from laboratory ant colony behavioral experiments, the alternating T-maze paradigm, to illustrate the ability of the model to recover basic colony phenomena such as trail formation after food location discovery. We conclude by outlining how the active inference ant colony foraging behavioral model can be extended and situated within a nested multiscale framework and systems approaches to biology more generally.

Phormica: Photochromic Pheromone Release and Detection System for Stigmergic Coordination in Robot Swarms.

Stigmergy is a form of indirect communication and coordination in which agents modify the environment to pass information to their peers. In nature, animals use stigmergy by, for example, releasing pheromone that conveys information to other members of their species. A few systems in swarm robotics research have replicated this process by introducing the concept of artificial pheromone. In this paper, we present Phormica, a system to conduct experiments in swarm robotics that enables a swarm of e-puck robots to release and detect artificial pheromone. Phormica emulates pheromone-based stigmergy thanks to the ability of robots to project UV light on the ground, which has been previously covered with a photochromic material. As a proof of concept, we test Phormica on three collective missions in which robots act collectively guided by the artificial pheromone they release and detect. Experimental results indicate that a robot swarm can effectively self-organize and act collectively by using stigmergic coordination based on the artificial pheromone provided by Phormica.

A growth model driven by curvature reproduces geometric features of arboreal termite nests.

We present a simple three-dimensional model to describe the autonomous expansion of a substrate whose growth is driven by the local mean curvature of its surface. The model aims to reproduce the nest construction process in arboreal Nasutitermes termites, whose cooperation may similarly be mediated by the shape of the structure they are walking on, for example focusing the building activity of termites where local mean curvature is high. We adopt a phase-field model where the nest is described by one continuous scalar field and its growth is governed by a single nonlinear equation with one adjustable parameter d. When d is large enough the equation is linearly unstable and fairly reproduces a growth process in which the initial walls expand, branch and merge, while progressively invading all the available space, which is consistent with the intricate structures of real nests. Interestingly, the linear problem associated with our growth equation is analogous to the buckling of a thin elastic plate under symmetric in-plane compression, which is also known to produce rich patterns through nonlinear and secondary instabilities. We validated our model by collecting nests of two species of arboreal Nasutitermes from the field and imaging their structure with a micro-computed tomography scanner. We found a strong resemblance between real and simulated nests, characterized by the emergence of a characteristic length scale and by the abundance of saddle-shaped surfaces with zero-mean curvature, which validates the choice of the driving mechanism of our growth model.

Selection and spatial arrangement of building materials during the construction of nest turrets by grass-cutting ants.

Ants build complex nest structures by reacting to simple, local stimuli. While underground nests result from the space generated by digging, some leaf- and grass-cutting ants also construct conspicuous aboveground turrets around nest openings. We investigated whether the selection of specific building materials occurs during turret construction in Acromyrmex fracticornis grass-cutting ants, and asked whether single building decisions at the beginning can modify the final turret architecture. To quantify workers' material selection, the original nest turret was removed and a choice between two artificial building materials, thin and thick sticks, was offered for rebuilding. Workers preferred thick sticks at the very beginning of turret construction, showed varying preferences thereafter, and changed to prefer thin sticks for the upper, final part of the turret, indicating that they selected different building materials over time to create a stable structure. The impact of a single building choice on turret architecture was evaluated by placing artificial beams that divided a colony's nest entrance at the beginning of turret rebuilding. Splitting the nest entrance led to the self-organized construction of turrets with branched galleries ending in multiple openings, showing that the spatial location of a single building material can strongly influence turret morphology.

Spider webs inspiring soft robotics.

In soft robotics, bio-inspiration ranges from hard- to software. Orb web spiders provide excellent examples for both. Adapted sensors on their legs may use morphological computing to fine-tune feedback loops that supervise the handling and accurate placement of silk threads. The spider's webs embody the decision rules of a complex behaviour that relies on navigation and piloting laid down in silk by behaviour charting inherited rules. Analytical studies of real spiders allow the modelling of path-finding construction rules optimized in evolutionary algorithms. We propose that deconstructing spiders and unravelling webs may lead to adaptable robots able to invent and construct complex novel structures using relatively simple rules of thumb.

Surface curvature guides early construction activity in mound-building termites.

Termite colonies construct towering, complex mounds, in a classic example of distributed agents coordinating their activity via interaction with a shared environment. The traditional explanation for how this coordination occurs focuses on the idea of a 'cement pheromone', a chemical signal left with deposited soil that triggers further deposition. Recent research has called this idea into question, pointing to a more complicated behavioural response to cues perceived with multiple senses. In this work, we explored the role of topological cues in affecting early construction activity in Macrotermes. We created artificial surfaces with a known range of curvatures, coated them with nest soil, placed groups of major workers on them and evaluated soil displacement as a function of location at the end of 1 h. Each point on the surface has a given curvature, inclination and absolute height; to disambiguate these factors, we conducted experiments with the surface in different orientations. Soil displacement activity is consistently correlated with surface curvature, and not with inclination nor height. Early exploration activity is also correlated with curvature, to a lesser degree. Topographical cues provide a long-term physical memory of building activity in a manner that ephemeral pheromone labelling cannot. Elucidating the roles of these and other cues for group coordination may help provide organizing principles for swarm robotics and other artificial systems. This article is part of the theme issue 'Liquid brains, solid brains: How distributed cognitive architectures process information'.