{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,2,21]],"date-time":"2025-02-21T12:35:26Z","timestamp":1740141326074,"version":"3.37.3"},"reference-count":43,"publisher":"Springer Science and Business Media LLC","issue":"4","license":[{"start":{"date-parts":[[2020,10,23]],"date-time":"2020-10-23T00:00:00Z","timestamp":1603411200000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0"},{"start":{"date-parts":[[2020,10,23]],"date-time":"2020-10-23T00:00:00Z","timestamp":1603411200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0"}],"funder":[{"DOI":"10.13039\/501100006389","name":"University of Geneva","doi-asserted-by":"crossref","id":[{"id":"10.13039\/501100006389","id-type":"DOI","asserted-by":"crossref"}]}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["Artif Life Robotics"],"published-print":{"date-parts":[[2020,11]]},"abstract":"<jats:title>Abstract<\/jats:title><jats:p>Collective behaviour in nature provides a source of inspiration to engineer artificial collective adaptive systems, due to their mechanisms favouring adaptation to environmental changes and enabling complex emergent behaviour to arise from a relatively simple behaviour of individual entities. As part of our ongoing research, we study the social amoeba <jats:italic>Dictyostelium discoideum<\/jats:italic> to derive agent-based models and mechanisms that we can then exploit in artificial systems, in particular in swarm robotics. In this paper, we present a selection of agent-based models of the aggregation phase of <jats:italic>D. discoideum<\/jats:italic>, their corresponding biological illustrations and how we used them as an inspiration for transposing this behaviour into swarms of Kilobots. We focus on the stream-breaking phenomenon occurring during the aggregation phase of the life cycle of <jats:italic>D. discoideum<\/jats:italic>. Results show that the breakup of aggregation streams depends on cell density, motility, motive force and the concentration of cAMP and CF. The breakup also comes with the appearance of late centres. Our computational results show similar behaviour to our biological experiments, using Ax2(ka) strain. For swarm robotics experiments, we focus on signalling and aggregation towards a centre.<\/jats:p>","DOI":"10.1007\/s10015-020-00657-9","type":"journal-article","created":{"date-parts":[[2020,10,23]],"date-time":"2020-10-23T07:02:52Z","timestamp":1603436572000},"page":"643-655","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":1,"title":["First-order agent-based models of emergent behaviour of Dictyostelium discoideum and their inspiration for swarm robotics"],"prefix":"10.1007","volume":"25","author":[{"given":"Mohammad","family":"Parhizkar","sequence":"first","affiliation":[]},{"given":"Giovanna","family":"Di Marzo Serugendo","sequence":"additional","affiliation":[]},{"given":"Jahn","family":"Nitschke","sequence":"additional","affiliation":[]},{"given":"Louis","family":"Hellequin","sequence":"additional","affiliation":[]},{"given":"Assane","family":"Wade","sequence":"additional","affiliation":[]},{"given":"Thierry","family":"Soldati","sequence":"additional","affiliation":[]}],"member":"297","published-online":{"date-parts":[[2020,10,23]]},"reference":[{"key":"657_CR1","unstructured":"Almeida S, Dilao R (2015) Modelling Dictyostelium discoideum aggregation through a discrete excitability model with directional sensing. In: Advances in systems and synthetic biology, pp 125\u2013137"},{"issue":"4","key":"657_CR2","doi-asserted-by":"publisher","first-page":"R75","DOI":"10.1186\/gb-2008-9-4-r75","volume":"9","author":"G Bloomfield","year":"2008","unstructured":"Bloomfield G, Tanaka Y, Skelton J, Ivens A, Kay RR (2008) Widespread duplications in the genomes of laboratory stocks of Dictyostelium discoideum. Genome Biol 9(4):R75","journal-title":"Genome Biol"},{"key":"657_CR3","doi-asserted-by":"publisher","first-page":"178","DOI":"10.1080\/15572536.2006.11832851","volume":"97","author":"JT Bonner","year":"2005","unstructured":"Bonner JT, Lamont DS (2005) Behavior of cellular slime molds in the soil. Mycologia 97:178","journal-title":"Mycologia"},{"issue":"15","key":"657_CR4","doi-asserted-by":"publisher","first-page":"1960","DOI":"10.1101\/gad.13.15.1960","volume":"13","author":"DA Brock","year":"1999","unstructured":"Brock DA, Gomer RH (1999) A cell-counting factor regulating structure size in Dictyostelium. Genes Dev 13(15):1960\u20131969","journal-title":"Genes Dev"},{"issue":"24","key":"657_CR5","doi-asserted-by":"crossref","first-page":"4349","DOI":"10.1242\/jcs.114.24.4349","volume":"114","author":"JC Coates","year":"2001","unstructured":"Coates JC, Harwood AJ (2001) Cell-cell adhesion and signal transduction during Dictyostelium development. J Cell Sci 114(24):4349\u20134358","journal-title":"J Cell Sci"},{"key":"657_CR6","unstructured":"Cooper GM (2000) An Overview of Cells and Cell Research. In: The Cell: A Molecular Approach, Chapter 1, 2nd edition. Sunderland (MA), Sinauer Associates. https:\/\/www.ncbi.nlm.nih.gov\/books\/NBK9839\/"},{"issue":"7025","key":"657_CR7","doi-asserted-by":"publisher","first-page":"513","DOI":"10.1038\/nature03236","volume":"433","author":"ID Couzin","year":"2005","unstructured":"Couzin ID, Krause J, Franks NR, Levin SA (2005) Effective leadership and decision-making in animal groups on the move. Nature 433(7025):513","journal-title":"Nature"},{"issue":"1","key":"657_CR8","doi-asserted-by":"publisher","first-page":"45","DOI":"10.1093\/imammb\/dqi016","volume":"23","author":"J Dallon","year":"2006","unstructured":"Dallon J, Jang W, Gomer RH (2006) Mathematically modelling the effects of counting factor in Dictyostelium discoideum. Math Med Biol 23(1):45\u201362","journal-title":"Math Med Biol"},{"issue":"4","key":"657_CR9","doi-asserted-by":"publisher","first-page":"60","DOI":"10.1109\/MRA.2013.2252996","volume":"20","author":"M Dorigo","year":"2013","unstructured":"Dorigo M, Floreano D, Gambardella LM, Mondada F, Nolfi S, Baaboura T, Birattari M, Bonani M, Brambilla M, Brutschy A (2013) Others: Swarmanoid: a novel concept for the study of heterogeneous robotic swarms. IEEE Robot Autom Mag 20(4):60\u201371","journal-title":"IEEE Robot Autom Mag"},{"key":"657_CR10","doi-asserted-by":"publisher","first-page":"21","DOI":"10.1016\/S0301-4622(98)00120-3","volume":"72","author":"D Dormann","year":"1998","unstructured":"Dormann D, Vasiev B, Weijer CJ (1998) Propagating waves control Dictyostelium discoideum morphogenesis. Biophys Chem 72:21\u201335","journal-title":"Biophys Chem"},{"key":"657_CR11","doi-asserted-by":"crossref","unstructured":"Griffith J, Holland J, O\u2019Riordan C (2016) An evolutionary approach to formation control with mobile robots. In: Proceedings of the 8th International Joint Conference on computational intelligence, Vol 1: ECTA. SciTePress Digital Library","DOI":"10.5220\/0006068602250230"},{"issue":"suppl\u20131","key":"657_CR12","first-page":"S49","volume":"5","author":"W Jang","year":"2008","unstructured":"Jang W, Gomer RH (2008) Combining experiments and modelling to understand size regulation in Dictyostelium discoideum. J R Soc Interface 5(suppl\u20131):S49\u2013S58","journal-title":"J R Soc Interface"},{"key":"657_CR13","doi-asserted-by":"publisher","first-page":"4801","DOI":"10.1103\/PhysRevA.48.4801","volume":"48","author":"DA Kessler","year":"1993","unstructured":"Kessler DA, Levine H (1993) Pattern formation in Dictyostelium via the dynamics of cooperative biological entities. Phys Rev 48:4801","journal-title":"Phys Rev"},{"key":"657_CR14","first-page":"1464","volume":"5","author":"S Kornienko","year":"2005","unstructured":"Kornienko S, Kornienko O, Levi P (2005) Collective AI: context awareness via communication. IJCAI 5:1464\u20131470","journal-title":"IJCAI"},{"key":"657_CR15","doi-asserted-by":"publisher","unstructured":"Kornienko S, Kornienko O, Levi P (2005) Minimalistic approach towards communication and perception in microrobotic swarms. In: 2005 IEEE\/RSJ Int. Conf. Intell. Robot. Syst. IROS. https:\/\/doi.org\/10.1109\/IROS.2005.1545594","DOI":"10.1109\/IROS.2005.1545594"},{"issue":"4","key":"657_CR16","doi-asserted-by":"publisher","first-page":"549","DOI":"10.1016\/S0092-8674(03)00081-3","volume":"112","author":"PW Kriebel","year":"2003","unstructured":"Kriebel PW, Barr VA, Parent CA (2003) Adenylyl cyclase localization regulates streaming during chemotaxis. Cell 112(4):549\u2013560","journal-title":"Cell"},{"issue":"5","key":"657_CR17","doi-asserted-by":"publisher","first-page":"949","DOI":"10.1083\/jcb.200808105","volume":"183","author":"PW Kriebel","year":"2008","unstructured":"Kriebel PW, Barr VA, Rericha EC, Zhang G, Parent CA (2008) Collective cell migration requires vesicular trafficking for chemoattractant delivery at the trailing edge. J Cell Biol 183(5):949\u2013961","journal-title":"J Cell Biol"},{"issue":"1","key":"657_CR18","doi-asserted-by":"publisher","first-page":"95","DOI":"10.1006\/bulm.2002.0323","volume":"65","author":"J Krishnan","year":"2003","unstructured":"Krishnan J, Iglesias PA (2003) Analysis of the signal transduction properties of a module of spatial sensing in eukaryotic chemotaxis. Bull Math Biol 65(1):95\u2013128","journal-title":"Bull Math Biol"},{"issue":"1","key":"657_CR19","doi-asserted-by":"publisher","first-page":"50","DOI":"10.1016\/S0006-3495(02)75373-3","volume":"82","author":"A Levchenko","year":"2002","unstructured":"Levchenko A, Iglesias PA (2002) Models of eukaryotic gradient sensing: application to chemotaxis of amoebae and neutrophils. Biophys J 82(1):50\u201363","journal-title":"Biophys J"},{"issue":"13","key":"657_CR20","doi-asserted-by":"publisher","first-page":"6382","DOI":"10.1073\/pnas.93.13.6382","volume":"93","author":"H Levine","year":"1996","unstructured":"Levine H, Aranson I, Tsimring L, Truong TV (1996) Positive genetic feedback governs cAMP spiral wave formation in Dictyostelium. Proc Nat Acad Sci 93(13):6382\u20136386","journal-title":"Proc Nat Acad Sci"},{"issue":"1","key":"657_CR21","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1242\/jcs.33.1.1","volume":"33","author":"SA MacKay","year":"1978","unstructured":"MacKay SA (1978) Computer simulation of aggregation in Dictyostelium discoideum. J Cell Sci 33(1):1\u201316","journal-title":"J Cell Sci"},{"issue":"5","key":"657_CR22","doi-asserted-by":"publisher","first-page":"807","DOI":"10.1016\/S0006-3495(87)83275-7","volume":"52","author":"JL Martiel","year":"1987","unstructured":"Martiel JL, Goldbeter A (1987) A model based on receptor desensitization for cyclic AMP signaling in Dictyostelium cells. Biophys J 52(5):807\u2013828","journal-title":"Biophys J"},{"issue":"1","key":"657_CR23","doi-asserted-by":"publisher","first-page":"439","DOI":"10.1038\/s41467-017-00109-2","volume":"8","author":"N Mathews","year":"2017","unstructured":"Mathews N, Christensen AL, O\u2019Grady R, Mondada F, Dorigo M (2017) Mergeable nervous systems for robots. Nat Commun 8(1):439","journal-title":"Nat Commun"},{"issue":"6","key":"657_CR24","doi-asserted-by":"publisher","first-page":"62,711","DOI":"10.1103\/PhysRevE.91.062711","volume":"91","author":"J Noorbakhsh","year":"2015","unstructured":"Noorbakhsh J, Schwab DJ, Sgro AE, Gregor T, Mehta P (2015) Modeling oscillations and spiral waves in Dictyostelium populations. Phys Rev E 91(6):62,711","journal-title":"Phys Rev E"},{"issue":"5415","key":"657_CR25","doi-asserted-by":"publisher","first-page":"765","DOI":"10.1126\/science.284.5415.765","volume":"284","author":"CA Parent","year":"1999","unstructured":"Parent CA, Devreotes PN (1999) A cell\u2019s sense of direction. Science 284(5415):765\u2013770","journal-title":"Science"},{"key":"657_CR26","unstructured":"Parhizkar M (2020) Higher-order emergence in collective AI systems from computational model of Dictyostelium discoideum to swarm robotics. Ph.D. thesis, Geneva School of Social Sciences, Information systems, University of Geneva"},{"key":"657_CR27","doi-asserted-by":"crossref","unstructured":"Parhizkar M, Di\u00a0Marzo\u00a0Serugendo G (2015) Social amoeba Dictyostelium discoideum as an Inspiration for swarm robotics. In: IEEE 9th International Conference on self-adaptive and self-organizing systems (SASO), 2015, pp 162\u2013163","DOI":"10.1109\/SASO.2015.26"},{"key":"657_CR28","unstructured":"Parhizkar M, Di\u00a0Marzo\u00a0Serugendo G (2017) An agent-based model for collective behaviors of social amoeba Dictyostelium discoideum morphogenesis: aggregation phase. In: International Conference on : SWARM\u201917"},{"issue":"4","key":"657_CR29","doi-asserted-by":"publisher","first-page":"498","DOI":"10.1007\/s10015-018-0477-3","volume":"23","author":"M Parhizkar","year":"2018","unstructured":"Parhizkar M, Di Marzo Serugendo G (2018) Agent-based models for first- and second-order emergent collective behaviours of social amoeba Dictyostelium discoideum aggregation and migration phases. Artif Life Robot Springer 23(4):498\u2013507","journal-title":"Artif Life Robot Springer"},{"key":"657_CR30","doi-asserted-by":"crossref","unstructured":"Parhizkar M, Di\u00a0Marzo\u00a0Serugendo G, Hassas S (2019) Leaders and followers: a design pattern for second-order emergence. In: IEEE 4th Workshops on Foundations and Applications of Self* Systems (FAS* W). Umea","DOI":"10.1109\/FAS-W.2019.00076"},{"key":"657_CR31","unstructured":"Parhizkar M, Nitschke J, Hellequin L, Di\u00a0Marzo\u00a0Serugendo G, Soldati T (2019) Self-organising agent-based model to study stream-breaking phenomenon during aggregation phase of Dictyostelium discoideum. In: International Conference on : SWARM\u201919"},{"key":"657_CR32","doi-asserted-by":"crossref","unstructured":"Rubenstein M, Ahler C, Nagpal R (2012) Kilobot: a low cost scalable robot system for collective behaviors. Robotics and Automation (ICRA), 2012 IEEE International Conference pp. 3293\u20133298","DOI":"10.1109\/ICRA.2012.6224638"},{"issue":"6198","key":"657_CR33","doi-asserted-by":"publisher","first-page":"795","DOI":"10.1126\/science.1254295","volume":"345","author":"M Rubenstein","year":"2014","unstructured":"Rubenstein M, Cornejo A, Nagpal R (2014) Programmable self-assembly in a thousand-robot swarm. Science 345(6198):795\u2013799","journal-title":"Science"},{"issue":"1","key":"657_CR34","doi-asserted-by":"publisher","first-page":"171","DOI":"10.1007\/s10514-007-9073-4","volume":"25","author":"T Schmickl","year":"2008","unstructured":"Schmickl T, Crailsheim K (2008) Trophallaxis within a robotic swarm: bio-inspired communication among robots in a swarm. Auton Robots 25(1):171\u2013188","journal-title":"Auton Robots"},{"key":"657_CR35","doi-asserted-by":"publisher","unstructured":"Seyfried J, Szymanski M, Bender N, Esta\u00f1a R, Thiel M, W\u00f6rn H (2005) The I-SWARM project: intelligent small world autonomous robots for micro-manipulation. In: Lect. Notes Comput. Sci. https:\/\/doi.org\/10.1007\/978-3-540-30552-1_7","DOI":"10.1007\/978-3-540-30552-1_7"},{"issue":"3\u20134","key":"657_CR36","doi-asserted-by":"publisher","first-page":"189","DOI":"10.1016\/S0167-2789(98)00273-5","volume":"126","author":"T Umeda","year":"1999","unstructured":"Umeda T, Inouye K (1999) Theoretical model for morphogenesis and cell sorting in Dictyostelium discoideum. Phys D 126(3\u20134):189\u2013200","journal-title":"Phys D"},{"key":"657_CR37","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2006.05.001","author":"P Valdastri","year":"2006","unstructured":"Valdastri P, Corradi P, Menciassi A, Schmickl T, Crailsheim K, Seyfried J, Dario P (2006) Micromanipulation, communication and swarm intelligence issues in a swarm microrobotic platform. Rob Auton Syst. https:\/\/doi.org\/10.1016\/j.robot.2006.05.001","journal-title":"Rob Auton Syst"},{"key":"657_CR38","unstructured":"Valentini G, Hamann H, Dorigo M (2015) Efficient decision-making in a self-organizing robot swarm: On the speed versus accuracy trade-off. In: Proc. 2015 Int. Conf. Auton. Agents Multiagent Syst., pp. 1305\u20131314. International Foundation for Autonomous Agents and Multiagent Systems"},{"key":"657_CR39","unstructured":"Valentini Gabriele HH, Dorigo M (2015) Efficient decision-making in a self-organizing robot swarm: On the speed versus accuracy trade-off. In: Proceedings of the 2015 International Conference on autonomous agents and multiagent systems. International Foundation for Autonomous Agents and Multiagent Systems, AAMAS, pp 1305\u20131314"},{"issue":"3","key":"657_CR40","doi-asserted-by":"publisher","first-page":"203","DOI":"10.1006\/jtbi.1996.0126","volume":"181","author":"C Van Oss","year":"1996","unstructured":"Van Oss C, Panfilov A, Hogeweg P, Siegert F, Weijer CJ (1996) Spatial pattern formation during aggregation of the slime mould Dictyostelium discoideum. J Theor Biol 181(3):203\u2013213","journal-title":"J Theor Biol"},{"issue":"4","key":"657_CR41","doi-asserted-by":"publisher","first-page":"361","DOI":"10.1006\/jtbi.1994.1240","volume":"171","author":"OO Vasieva","year":"1994","unstructured":"Vasieva OO, Vasiev BN, Karpov VA, Zaikin AN (1994) A model of Dictyostelium discoideum aggregation. J Theor Biol 171(4):361\u2013367","journal-title":"J Theor Biol"},{"issue":"4","key":"657_CR42","doi-asserted-by":"publisher","first-page":"392","DOI":"10.1016\/j.gde.2004.06.006","volume":"14","author":"CJ Weijer","year":"2004","unstructured":"Weijer CJ (2004) Dictyostelium morphogenesis. Curr Opin Genet Dev 14(4):392\u2013398","journal-title":"Curr Opin Genet Dev"},{"key":"657_CR43","unstructured":"Yu CH, Werfel J, Nagpal R (2010) Collective decision-making in multi-agent systems by implicit leadership. In: Proc. 9th Int. Conf. Auton. agents multiagent syst. Vol. 3-Volume 3, pp. 1189\u20131196. International Foundation for Autonomous Agents and Multiagent Systems"}],"container-title":["Artificial Life and Robotics"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s10015-020-00657-9.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/article\/10.1007\/s10015-020-00657-9\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s10015-020-00657-9.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2021,10,22]],"date-time":"2021-10-22T20:54:34Z","timestamp":1634936074000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/s10015-020-00657-9"}},"subtitle":["A selection of aggregation phase behaviour with biological illustrations"],"short-title":[],"issued":{"date-parts":[[2020,10,23]]},"references-count":43,"journal-issue":{"issue":"4","published-print":{"date-parts":[[2020,11]]}},"alternative-id":["657"],"URL":"https:\/\/doi.org\/10.1007\/s10015-020-00657-9","relation":{},"ISSN":["1433-5298","1614-7456"],"issn-type":[{"type":"print","value":"1433-5298"},{"type":"electronic","value":"1614-7456"}],"subject":[],"published":{"date-parts":[[2020,10,23]]},"assertion":[{"value":"7 June 2020","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"13 September 2020","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"23 October 2020","order":3,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}}]}}