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Opinion dynamics for decentralized collective decision-making in a swarm of robots Marco A. Montes de Oca IRIDIA-CoDE, Universit e Libre de Bruxelles, Brussels, Belgium April 10, 2010 Marco A. Montes de Oca Opinion dynamics for

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Opinion dynamics for decentralized collective decision-making in a swarm of robots

Marco A. Montes de Oca

IRIDIA-CoDE, Universit´ e Libre de Bruxelles, Brussels, Belgium

April 10, 2010

Marco A. Montes de Oca Opinion dynamics for decentralized collective decision-making in a

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Opinion dynamics

Branch of statistical physics that deals with the definition of opinion states of a population, and the mechanisms that trigger transitions between states. Example: Religious conversion

Marco A. Montes de Oca Opinion dynamics for decentralized collective decision-making in a

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Our work: Goal

Can opinion dynamics models be used to make a large population

f (simple) robots choose the best of a number of competing

alternatives?

Marco A. Montes de Oca Opinion dynamics for decentralized collective decision-making in a

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Our work: Opinion dynamics mechanism

1 Pick at random k groups of 3 individuals each 2 Each group selects the action according to a given decision

rule

3 A selected action is adopted by all the individuals in a group 4 All groups perform the selected action 5 Once a group finishes, its members become available again to

form another group

Marco A. Montes de Oca Opinion dynamics for decentralized collective decision-making in a

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Our work: Opinion dynamics mechanism

1 Pick at random k groups of 3 individuals each 2 Each group selects the action according to a given decision

rule

3 A selected action is adopted by all the individuals in a group 4 All groups perform the selected action 5 Once a group finishes, its members become available again to

form another group

Marco A. Montes de Oca Opinion dynamics for decentralized collective decision-making in a

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Our work: Opinion dynamics mechanism

1 Pick at random k groups of 3 individuals each 2 Each group selects the action according to a given decision

rule

3 A selected action is adopted by all the individuals in a group 4 All groups perform the selected action 5 Once a group finishes, its members become available again to

form another group

Marco A. Montes de Oca Opinion dynamics for decentralized collective decision-making in a

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Our work: Opinion dynamics mechanism

1 Pick at random k groups of 3 individuals each 2 Each group selects the action according to a given decision

rule

3 A selected action is adopted by all the individuals in a group 4 All groups perform the selected action 5 Once a group finishes, its members become available again to

form another group

Marco A. Montes de Oca Opinion dynamics for decentralized collective decision-making in a

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Our work: Opinion dynamics mechanism

1 Pick at random k groups of 3 individuals each 2 Each group selects the action according to a given decision

rule

3 A selected action is adopted by all the individuals in a group 4 All groups perform the selected action 5 Once a group finishes, its members become available again to

form another group

Marco A. Montes de Oca Opinion dynamics for decentralized collective decision-making in a

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Our work: Majority rule as local decision rule

Majority rule

Marco A. Montes de Oca Opinion dynamics for decentralized collective decision-making in a

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Our work: Majority rule as local decision rule

Majority rule

Marco A. Montes de Oca Opinion dynamics for decentralized collective decision-making in a

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Our work: Robots

Marco A. Montes de Oca Opinion dynamics for decentralized collective decision-making in a

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Our work: Example

Marco A. Montes de Oca Opinion dynamics for decentralized collective decision-making in a

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Results: Population adoption probability

Majority rule (64 robots - 16 teams)

Marco A. Montes de Oca Opinion dynamics for decentralized collective decision-making in a

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Ongoing and future work

Different decision rules Task completion time variance Dynamic environments Multiple choices Analytical study Group scalability Speeding up convergence

Marco A. Montes de Oca Opinion dynamics for decentralized collective decision-making in a

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Thank you

(More) Questions?

Marco A. Montes de Oca Opinion dynamics for decentralized collective decision-making in a