Demonstrating the Differential Impact of Flock Heterogeneity on Multi-agent Herding

Chris Bennett; Seth Bullock; Jonathan Lawry

doi:10.1007/978-3-030-89177-0_15

Demonstrating the Differential Impact of Flock Heterogeneity on Multi-agent Herding

Chris Bennett^*, Seth Bullock, Jonathan Lawry

^*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceeding › Conference Contribution (Conference Proceeding)

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Abstract

This paper explores the differential impact of multi-agent system heterogeneity in the context of an idealised herding task. In simulation, a team of simple herders must move a flock towards a target location in a continuous 2d space. Flock heterogeneity is controlled by dividing the flock into a number of non-overlapping social groups that influence sheep movement. Results demonstrate that increasing system heterogeneity (i.e., the number of different social groups) reduces herding performance when social groups are self-attracting, but conversely, the same increase in system heterogeneity can increase herding performance when groups are other-attracting. Implications for designing heterogeneous multi-agent systems are considered.

Original language	English
Title of host publication	Annual Conference Towards Autonomous Robotic Systems
Subtitle of host publication	TAROS 2021: Towards Autonomous Robotic Systems
Publisher	Springer
Pages	147-157
Number of pages	11
ISBN (Electronic)	978-3-030-89177-0
ISBN (Print)	978-3-030-89176-3
DOIs	https://doi.org/10.1007/978-3-030-89177-0_15
Publication status	Published - 31 Oct 2021
Event	Towards Autonomous Robotic Systems Conference - Lincoln, United Kingdom Duration: 8 Sep 2021 → 10 Sep 2021 https://lcas.lincoln.ac.uk/wp/taros-2021/

Conference

Conference	Towards Autonomous Robotic Systems Conference
Abbreviated title	TAROS 2021
Country/Territory	United Kingdom
City	Lincoln
Period	8/09/21 → 10/09/21
Internet address	https://lcas.lincoln.ac.uk/wp/taros-2021/

Bibliographical note

Funding Information:
This work was funded and delivered in partnership between the Thales Group and the University of Bristol, and with the support of the UK Engineering and Physical Sciences Research Council Grant Award EP/R004757/1 entitled ‘Thales-Bristol Partnership in Hybrid Autonomous Systems Engineering (T-B PHASE)’.

Publisher Copyright:
© 2021, Springer Nature Switzerland AG.

Keywords

Heterogeneous Agents
Multi-Agent System
Herding

Access to Document

10.1007/978-3-030-89177-0_15

Full-text PDF (accepted author manuscript)
This is the final published version of the article (version of record). It first appeared online via Springer at 10.1007/978-3-030-89177-0_15. Please refer to any applicable terms of use of the publisher.
Accepted author manuscript, 447 KB

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T-B PHASE: Prosperity Partnership with Thales
Richards, A. G., Wilson, R. E., Johnson, A., Bullock, S., Lawry, J., Noyes, J. M., Hauert, S., Bode, N. W. F., Pitonakova, L., Kent, T., Crosscombe, M., Zanatto, D., Alkan, B., Drury, K. L., Hogg, E., Bonnell, W. D., Bennett, C., Clarke, C. E. M., Potts, M. W., Sartor, P. N., Harvey, D., Rayneau-Kirkhope, B., Galvin, K., Lam, J., Barden, E., Chattington, M., Radanovic, M., Morey, E. J., Ball, M., Hunt, E. R., Richards, A. G., Radanovic, M., Morey, E. J., Steane, V., Reed Edworthy, J. & Hart, S. G.
1/10/17 → 31/03/23
Project: Research

HPC (High Performance Computing) Facility
Sadaf R Alam (Manager), Steven A Chapman (Manager), Polly E Eccleston (Other), Simon H Atack (Other) & D A G Williams (Manager)
Facility/equipment: Facility

Cite this

@inproceedings{0783f6826cc4446abbb6a8788e883b55,

title = "Demonstrating the Differential Impact of Flock Heterogeneity on Multi-agent Herding",

abstract = "This paper explores the differential impact of multi-agent system heterogeneity in the context of an idealised herding task. In simulation, a team of simple herders must move a flock towards a target location in a continuous 2d space. Flock heterogeneity is controlled by dividing the flock into a number of non-overlapping social groups that influence sheep movement. Results demonstrate that increasing system heterogeneity (i.e., the number of different social groups) reduces herding performance when social groups are self-attracting, but conversely, the same increase in system heterogeneity can increase herding performance when groups are other-attracting. Implications for designing heterogeneous multi-agent systems are considered.",

keywords = "Heterogeneous Agents, Multi-Agent System, Herding",

author = "Chris Bennett and Seth Bullock and Jonathan Lawry",

note = "Funding Information: This work was funded and delivered in partnership between the Thales Group and the University of Bristol, and with the support of the UK Engineering and Physical Sciences Research Council Grant Award EP/R004757/1 entitled {\textquoteleft}Thales-Bristol Partnership in Hybrid Autonomous Systems Engineering (T-B PHASE){\textquoteright}. Publisher Copyright: {\textcopyright} 2021, Springer Nature Switzerland AG.; Towards Autonomous Robotic Systems Conference, TAROS 2021 ; Conference date: 08-09-2021 Through 10-09-2021",

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language = "English",

isbn = "978-3-030-89176-3",

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booktitle = "Annual Conference Towards Autonomous Robotic Systems",

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Bennett, C , Bullock, S & Lawry, J 2021, Demonstrating the Differential Impact of Flock Heterogeneity on Multi-agent Herding. in Annual Conference Towards Autonomous Robotic Systems: TAROS 2021: Towards Autonomous Robotic Systems . Springer, pp. 147-157, Towards Autonomous Robotic Systems Conference, Lincoln, United Kingdom, 8/09/21. https://doi.org/10.1007/978-3-030-89177-0_15

Demonstrating the Differential Impact of Flock Heterogeneity on Multi-agent Herding. / Bennett, Chris ; Bullock, Seth ; Lawry, Jonathan.

Annual Conference Towards Autonomous Robotic Systems: TAROS 2021: Towards Autonomous Robotic Systems . Springer, 2021. p. 147-157.

Research output: Chapter in Book/Report/Conference proceeding › Conference Contribution (Conference Proceeding)

TY - GEN

T1 - Demonstrating the Differential Impact of Flock Heterogeneity on Multi-agent Herding

AU - Bennett, Chris

AU - Bullock, Seth

AU - Lawry, Jonathan

N1 - Funding Information: This work was funded and delivered in partnership between the Thales Group and the University of Bristol, and with the support of the UK Engineering and Physical Sciences Research Council Grant Award EP/R004757/1 entitled ‘Thales-Bristol Partnership in Hybrid Autonomous Systems Engineering (T-B PHASE)’. Publisher Copyright: © 2021, Springer Nature Switzerland AG.

PY - 2021/10/31

Y1 - 2021/10/31

N2 - This paper explores the differential impact of multi-agent system heterogeneity in the context of an idealised herding task. In simulation, a team of simple herders must move a flock towards a target location in a continuous 2d space. Flock heterogeneity is controlled by dividing the flock into a number of non-overlapping social groups that influence sheep movement. Results demonstrate that increasing system heterogeneity (i.e., the number of different social groups) reduces herding performance when social groups are self-attracting, but conversely, the same increase in system heterogeneity can increase herding performance when groups are other-attracting. Implications for designing heterogeneous multi-agent systems are considered.

AB - This paper explores the differential impact of multi-agent system heterogeneity in the context of an idealised herding task. In simulation, a team of simple herders must move a flock towards a target location in a continuous 2d space. Flock heterogeneity is controlled by dividing the flock into a number of non-overlapping social groups that influence sheep movement. Results demonstrate that increasing system heterogeneity (i.e., the number of different social groups) reduces herding performance when social groups are self-attracting, but conversely, the same increase in system heterogeneity can increase herding performance when groups are other-attracting. Implications for designing heterogeneous multi-agent systems are considered.

KW - Heterogeneous Agents

KW - Multi-Agent System

KW - Herding

U2 - 10.1007/978-3-030-89177-0_15

DO - 10.1007/978-3-030-89177-0_15

M3 - Conference Contribution (Conference Proceeding)

SN - 978-3-030-89176-3

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EP - 157

BT - Annual Conference Towards Autonomous Robotic Systems

PB - Springer

T2 - Towards Autonomous Robotic Systems Conference

Y2 - 8 September 2021 through 10 September 2021

ER -

Demonstrating the Differential Impact of Flock Heterogeneity on Multi-agent Herding

Abstract

Conference

Bibliographical note

Keywords

Access to Document

Handle.net

Fingerprint

Projects

T-B PHASE: Prosperity Partnership with Thales

Equipment

HPC (High Performance Computing) Facility

Cite this