A great variety of systems in nature, society and technology -- from the web of sexual contacts to the Internet, from the nervous system to power grids -- can be modeled as graphs of vertices coupled by edges The network structure, describing how the graph is wired, helps us understand, predict and optimize the behavior of dynamical systems In many cases, however, the edges are not continuously active As an example, in networks of communication via email, text messages, or phone calls, edges represent sequences of instantaneous or practically instantaneous contacts In some cases, edges are active for non-negligible periods of time: eg, the proximity patterns of inpatients at hospitals can be represented by a graph where an edge between two individuals is on throughout the time they are at the same ward Like network topology, the temporal structure of edge activations can affect dynamics of systems interacting through the network, from disease contagion on the network of patients to information diffusion over an e-mail network In this review, we present the emergent field of temporal networks, and discuss methods for analyzing topological and temporal structure and models for elucidating their relation to the behavior of dynamical systems In the light of traditional network theory, one can see this framework as moving the information of when things happen from the dynamical system on the network, to the network itself Since fundamental properties, such as the transitivity of edges, do not necessarily hold in temporal networks, many of these methods need to be quite different from those for static networks

Temporal Networks

In the Hamadryas baboon, males are substantially larger than females. A troop of baboons is subdivided into a number of ‘one-male groups’, consisting of one adult male and one or more females with their young. The male prevents any of ‘his’ females from moving too far from him. Kummer (1971) performed the following experiment. Two males, A and B, previously unknown to each other, were placed in a large enclosure. Male A was free to move about the enclosure, but male B was shut in a small cage, from which he could observe A but not interfere. A female, unknown to both males, was then placed in the enclosure. Within 20 minutes male A had persuaded the female to accept his ownership. Male B was then released into the open enclosure. Instead of challenging male A , B avoided any contact, accepting A’s ownership.

Evolution and the Theory of Games

Anarchy, state, and utopia

Swarm robotics is an approach to collective robotics that takes inspiration from the self-organized behaviors of social animals. Through simple rules and local interactions, swarm robotics aims at designing robust, scalable, and flexible collective behaviors for the coordination of large numbers of robots. In this paper, we analyze the literature from the point of view of swarm engineering: we focus mainly on ideas and concepts that contribute to the advancement of swarm robotics as an engineering field and that could be relevant to tackle real-world applications. Swarm engineering is an emerging discipline that aims at defining systematic and well founded procedures for modeling, designing, realizing, verifying, validating, operating, and maintaining a swarm robotics system. We propose two taxonomies: in the first taxonomy, we classify works that deal with design and analysis methods; in the second taxonomy, we classify works according to the collective behavior studied. We conclude with a discussion of the current limits of swarm robotics as an engineering discipline and with suggestions for future research directions.

/pdf/swarm-robotics-a-review-from-the-swarm-engineering-46mfc058e6.pdf

Swarm robotics: a review from the swarm engineering perspective

Computational geometry

The past few years have seen intensive research efforts carried out in some apparently unrelated areas of dynamic systems – delay-tolerant networks, opportunistic-mobility networks and social networks – obtaining closely related insights. Indeed, the concepts discovered in these investigations can be viewed as parts of the same conceptual universe, and the formal models proposed so far to express some specific concepts are the components of a larger formal description of this universe. The main contribution of this paper is to integrate the vast collection of concepts, formalisms and results found in the literature into a unified framework, which we call time-varying graphs TVGs. Using this framework, it is possible to express directly in the same formalism not only the concepts common to all those different areas, but also those specific to each. Based on this definitional work, employing both existing results and original observations, we present a hierarchical classification of TVGs; each class corresponds to a significant property examined in the distributed computing literature. We then examine how TVGs can be used to study the evolution of network properties, and propose different techniques, depending on whether the indicators for these properties are atemporal as in the majority of existing studies or temporal. Finally, we briefly discuss the introduction of randomness in TVGs.

/pdf/time-varying-graphs-and-dynamic-networks-4aylji9nmh.pdf

Time-varying graphs and dynamic networks

http://www.scs.carleton.ca/~santoro/Reports/Robots-Limited.pdf

Gathering of asynchronous robots with limited visibility

The study of what can be computed by a team of autonomous mobile robots, originally started in robotics and AI, has become increasingly popular in theoretical computer science (especially in distributed computing), where it is now an integral part of the investigations on computability by mobile entities. The robots are identical computational entities located and able to move in a spatial universe; they operate without explicit communication and are usually unable to remember the past; they are extremely simple, with limited resources, and individually quite weak. However, collectively the robots are capable of performing complex tasks, and form a system with desirable fault-tolerant and self-stabilizing properties. The research has been concerned with the computational aspects of such systems. In particular, the focus has been on the minimal capabilities that the robots should have in order to solve a problem. This book focuses on the recent algorithmic results in the field of distributed computing by oblivious mobile robots (unable to remember the past). After introducing the computational model with its nuances, we focus on basic coordination problems: pattern formation, gathering, scattering, leader election, as well as on dynamic tasks such as flocking. For each of these problems, we provide a snapshot of the state of the art, reviewing the existing algorithmic results. In doing so, we outline solution techniques, and we analyze the impact of the different assumptions on the robots' computability power. Table of Contents: Introduction / Computational Models / Gathering and Convergence / Pattern Formation / Scatterings and Coverings / Flocking / Other Directions

Distributed Computing by Oblivious Mobile Robots

The past few years have seen intensive research efforts carried out in some apparently unrelated areas of dynamic systems -- delay-tolerant networks, opportunistic-mobility networks, social networks -- obtaining closely related insights. Indeed, the concepts discovered in these investigations can be viewed as parts of the same conceptual universe; and the formal models proposed so far to express some specific concepts are components of a larger formal description of this universe. The main contribution of this paper is to integrate the vast collection of concepts, formalisms, and results found in the literature into a unified framework, which we call TVG (for time-varying graphs). Using this framework, it is possible to express directly in the same formalism not only the concepts common to all those different areas, but also those specific to each. Based on this definitional work, employing both existing results and original observations, we present a hierarchical classification of TVGs; each class corresponds to a significant property examined in the distributed computing literature. We then examine how TVGs can be used to study the evolution of network properties, and propose different techniques, depending on whether the indicators for these properties are a-temporal (as in the majority of existing studies) or temporal. Finally, we briefly discuss the introduction of randomness in TVGs.

Time-Varying Graphs and Dynamic Networks

Consider a set of $n>2$ identical mobile computational entities in the plane, called robots, operating in Look-Compute-Move cycles, without any means of direct communication. The Gathering Problem is the primitive task of all entities gathering in finite time at a point not fixed in advance, without any external control. The problem has been extensively studied in the literature under a variety of strong assumptions (e.g., synchronicity of the cycles, instantaneous movements, complete memory of the past, common coordinate system, etc.). In this paper we consider the setting without those assumptions, that is, when the entities are oblivious (i.e., they do not remember results and observations from previous cycles), disoriented (i.e., have no common coordinate system), and fully asynchronous (i.e., no assumptions exist on timing of cycles and activities within a cycle). The existing algorithmic contributions for such robots are limited to solutions for $n \leq 4$ or for restricted sets of initial configura...

/pdf/distributed-computing-by-mobile-robots-gathering-2au7jx1t48.pdf

Paola Flocchini

Papers

Time-varying graphs and dynamic networks

Gathering of asynchronous robots with limited visibility

Distributed Computing by Oblivious Mobile Robots

Time-Varying Graphs and Dynamic Networks

Distributed Computing by Mobile Robots: Gathering