J L Deneubourg

Publications of J L Deneubourg

• Towards mixed societies of chickens and robots

  Authors: A. Gribovskiy, J. Halloy, J.-L. Deneubourg, H. Bleuler, F. Mondada

  Intelligent Robots and Systems (IROS), 2010 IEEE/RSJ International Conference on; 11/2010

  To design, to study, and to control mixed animals-robots societies is a challenging field of scientific exploration that can bring new frameworks to study individual and collective behaviors inTo design, to study, and to control mixed animals-robots societies is a challenging field of scientific exploration that can bring new frameworks to study individual and collective behaviors in animal and mixed robot-animal societies. In the Chicken Robot project we aim at developing a mobile robot, able to collaborate with a group of chicks and to control certain group behaviors. The first research step is to build formal models of relevant animal behaviors by performing ethological experiments. Hence, one of the principal tasks is to design a setup equipped with appropriate monitoring tools. In this paper, we present a toolset for running chick-robot experiments and analyzing results. It includes an autonomous PoulBot robot and an experimental setup, able to autonomously record experimental video and audio data, to detect displacements of chicks and robots, to detect their calling activity and to provide robots with these data. We also present a visual data analysis system to extract behavioral features of individual chicks using the variational Bayesian Gaussian mixture model classification with a particle filters based prediction of future positions of chicks. We show how these tools are currently used to carry out chick-robot experiments, to collect behavioral data and to extract animal behavioral features that allow us to build behavioral models bound to be implemented in the robot.

• From the first intention movement to the last joiner: macaques combine mimetic rules to optimize their collective decisions.

  Authors: C Sueur, J L Deneubourg, O Petit

  Proceedings. Biological sciences / The Royal Society. 11/2010; 278(1712):1697-704.

  Mechanisms related to collective decision making have recently been found in almost all animal reigns from amoebae to worms, insects and vertebrates, including human beings. Decision-makingMechanisms related to collective decision making have recently been found in almost all animal reigns from amoebae to worms, insects and vertebrates, including human beings. Decision-making mechanisms related to collective movements-including pre-departure and joining-have already been studied at different steps of the movement process, but these studies were always carried out separately. We therefore have no understanding of how these different processes are related when they underlie the same collective decision-making event. Here, we consider the whole departure process of two groups of Tonkean macaques (Macaca tonkeana), using a stochastic model. When several exclusive choices are proposed, macaques vote and choose the majority. Individuals then join the movement according to a mimetism based on affiliative relationships. The pre-departure quorum and the joining mimetic mechanism are probably linked, but we have not yet identified which transition mechanism is used. This study shows that decision-making related to macaque group movements is governed by a quorum rule combined with a selective mimetism at departure. This is the first time that transition mechanisms have been described in mammals, which consequently helps understand how a voting process leads to social amplification. Our study also provides the first complete proof that there is continuity in the decision-making processes underlying collective movements in mammals from the first intention movement right through to the last joiner.

• Short-term group fission processes in macaques: a social networking approach.

  Authors: C Sueur, O Petit, J L Deneubourg

  The Journal of experimental biology. 04/2010; 213(Pt 8):1338-46.

  Living in groups necessarily involves a certain amount of within-group competition for food. Group members may have different motivations, implying the reaching of a consensus to stay cohesive. InLiving in groups necessarily involves a certain amount of within-group competition for food. Group members may have different motivations, implying the reaching of a consensus to stay cohesive. In some cases individuals fail to reach a common decision and the group splits; this can be temporary, as seen in fission-fusion dynamics, or even irreversible. Most studies on fission-fusion dynamics published to date have focused on the influence of environmental constraints on sub-grouping patterns, but little is known about how social relationships affect individual choices for sub-groups. In this study, we used an agent-based model to understand the mechanisms underlying group fission in two semi-free-ranging groups of macaques: one group of Tonkean macaques (Macaca tonkeana) and one of rhesus macaques (M. mulatta). The results showed that sub-grouping patterns were mainly influenced by affiliative relationships. Moreover, the species-specific social style appeared to affect the probability of choosing a particular sub-group. In the tolerant Tonkean macaques, mechanisms underlying sub-grouping patterns resembled anonymous mimetism, while in the nepotistic rhesus macaques, kinship influenced the mechanisms underlying group fissions. As previous studies have shown, fission-fusion society may be a way to avoid social conflicts induced either by food or by social competition.

• From the first intention movement to the last joiner: macaques combine mimetic rules to optimize their collective decisions

  Authors: C. Sueur, J. L. Deneubourg, O. Petit

  Proceedings of the Royal Society B: Biological Sciences. 01/2010;

• Impact of starvation on Lasius niger’ Exploration

  Authors: A-C. Mailleux, C. Devigne, J-L. Deneubourg, C. Detrain

  Ethology. 01/2010; 116(3):248-256.

  Exploration allows animals to discover food resources, detect competitors and update their general knowledge of the habitat surroundings. Although the vital importance of exploration, its functionalExploration allows animals to discover food resources, detect competitors and update their general knowledge of the habitat surroundings. Although the vital importance of exploration, its functional and proximal complexity is often underestimated. In this article, we study the exploring activities of Lasius niger, an aphid-tending ant species that has frequently to face fluctuations in honeydew availability. We study how foragers adjust collectively their exploration strategy to starvation to evidence the mechanisms involved in the adjustment of exploration to the food needs. We also study the social interactions between explorers and nestmates in order to enlighten the individual mechanisms regulating the exploring strategies according to starvation. Our experiments showed that the proportion of nestmates leaving the nest increases twofold after a prolonged starvation of 8 d. Highly starved scouts do not trigger the departure of nestmates by a direct physical contact (antennation) and do not trigger the departure by laying a trail pheromone as they do to recruit nestmates to a food resource. After long starvation periods, higher nestmates mobilisation seems to be based on their increased motivation to leave the nest and explore a new area. This study of social interactions has deciphered the importance of the role allocated to each behavioural group during boosted exploration.

• Selective mimetism at departure in collective movements of Macaca tonkeana: a theoretical and experimental approach

  Authors: C. Sueur, O. Petit, J.L. Deneubourg

  Animal Behaviour. 10/2009; 79:1087-1095.

  In primates, authors have reported the specific organization of individuals during collective movements. Some authors have suggested that intentional mechanisms underlie this particular organizationIn primates, authors have reported the specific organization of individuals during collective movements. Some authors have suggested that intentional mechanisms underlie this particular organization because primates have high cognitive abilities that can allow them to use this kind of behaviour. However, mechanisms underlying the emergence of complex systems are not necessarily complex and can be based on local rules. We investigated the joining processes observed during collective movements in one semi free-ranging group of Tonkean macaques, using an individualized agent-based model. The complex patterns observed, such as departure latencies, associations and order of individuals at departure of a collective movement, could be explained using a rule based on affiliative relationships. The decision an individual took to join the movement depended on the departure of its strongly affiliated individuals. Thus even in primates, complex collective behaviour may emerge from interactions between individuals following local behavioural rules.

• Collective decision-making in white-faced capuchin monkeys.

  Authors: O Petit, J. Gautrais, J. -B. Leca, G Theraulaz, J L Deneubourg

  Proceedings. Biological sciences / The Royal Society. 08/2009;

  In group-living animals, collective movements are a widespread phenomenon and occur through consensus decision. When one animal proposes a direction for group movement, the others decide to follow orIn group-living animals, collective movements are a widespread phenomenon and occur through consensus decision. When one animal proposes a direction for group movement, the others decide to follow or not and hence take part in the decision-making process. This paper examines the temporal spread of individual responses after the departure of a first individual (the initiator) in a semi-free ranging group of white-faced capuchins (Cebus capucinus). We analysed 294 start attempts, 111 succeeding and 183 failing. Using a modelling approach, we have demonstrated that consensus decision-making for group movements is based on two complementary phenomena in this species: firstly, the joining together of group members thanks to a mimetic process; and secondly, a modulation of this phenomenon through the propensity of the initiator to give up (i.e. cancellation rate). This cancellation rate seems to be directly dependent upon the number of followers: the greater this number is, the lower the cancellation rate is seen to be. The coupling between joining and cancellation rates leads to a quorum: when three individuals join the initiator, the group collectively moves. If the initiator abandons the movement, this influences the joining behaviour of the other group members, which in return influences the initiator's behaviour. This study demonstrates the synergy between the initiator's behaviour and the self-organized mechanisms underlying group movements.

• How to visualize the spider mite silk?

  Authors: G Clotuche, G Le Goff, A C Mailleux, J L Deneubourg, C Detrain, T Hance

  Microscopy research and technique. 04/2009;

  Tetranychus urticae (Acari: Tetranychidae) is a phytophagous mite that forms colonies of several thousand individuals. Like spiders, every individual produces abundant silk strands and is able toTetranychus urticae (Acari: Tetranychidae) is a phytophagous mite that forms colonies of several thousand individuals. Like spiders, every individual produces abundant silk strands and is able to construct a common web for the entire colony. Despite the importance of this silk for the biology of this worldwide species, only one previous study suggested how to visualize it. To analyze the web structuration, we developed a simple technique to dye T. urticae'silk on both inert and living substrates. Fluorescent brightener 28 (FB) (Sigma F3543) diluted in different solvents at different concentrations regarding the substrate was used to observe single strands of silk. On glass lenses, a 0.5% dimethyl sulfoxide solution was used and on bean leaves, a 0.1% aqueous solution. A difference of silk deposit was observed depending the substrate: rectilinear threads on glass lenses and more sinuous ones on bean leaves. This visualizing technique will help to carry out future studies about the web architecture and silk used by T. urticae. It might also be useful for the study of other silk-spinning arthropods. Microsc. Res. Tech. 2009. (c) 2009 Wiley-Liss, Inc.

• How to Visualize the Spider Mite Silk?

  Authors: G Clotuche, G Le Goff, A-C Mailleux, J-L Deneubourg, C Detrain, And T Hance

  Microscopy Research and Technique. 03/2009; 72:659-664.

  Tetranychus urticae (Acari: Tetranychidae) is a phytophagous mite that forms colonies of several thousand individuals. Like spiders, every individual produces abundant silk strands and is able toTetranychus urticae (Acari: Tetranychidae) is a phytophagous mite that forms colonies of several thousand individuals. Like spiders, every individual produces abundant silk strands and is able to construct a common web for the entire colony. Despite the importance of this silk for the biology of this worldwide species, only one previous study suggested how to visualize it. To analyze the web structuration, we developed a simple technique to dye T. urticae'silk on both inert and living substrates. Fluorescent brightener 28 (FB) (Sigma F3543) diluted in different sol-vents at different concentrations regarding the substrate was used to observe single strands of silk. On glass lenses, a 0.5% dimethyl sulfoxide solution was used and on bean leaves, a 0.1% aqueous solution. A difference of silk deposit was observed depending the substrate: rectilinear threads on glass lenses and more sinuous ones on bean leaves. This visualizing technique will help to carry out future studies about the web architecture and silk used by T. urticae. It might also be useful for the study of other silk-spinning arthropods. Microsc. Res. Tech. 00:000–000, 2009. V V C 2009 Wiley-Liss, Inc. INTRODUCTION Tetranychus urticae is a ubiquitous phytophagous mite and is known as a major pest of many cultures; it can be found on various types of plants (more than 900 plants including commercial crops such as vegetables, cotton, or strawberries) (Van Impe, 1985). One of the particularities of T. urticae is its abundant silk produc-tion. This spider mite seems to deposit silk continu-ously while walking as reported by Hazan et al. (1971). In silk-spinning arthropods, silk displays a diversity of material properties and chemical constituents (Craig, 1997). Silks are often described as fibrous bio-polymer filaments or threads with diameters ranging from 50 lm to a few hundred nanometers. Silks can be derived from several glands (colleterial, salivary, der-mal glands, Malpighian tubules) with different evolu-tionary origins (Craig, 1997). The whole podocephalic complex of T. urticae seems to be involved in silk pro-duction (Mills, 1973). Amino acids composition of spi-der silk (mainly Glycine, Alanine, and Serine) was pre-viously described (Andersen, 1970; Bradfeild, 1951; Craig, 1997; Works, 1981) and shows a considerable variability between individuals even for the same indi-vidual along its lifetime (Work and Young, 1987). The majority of studies dealing with silk have been made about spiders and lepidopterous insects Saffre et al., 1999). Functions of silk strands in arthropods are numer-ous: protective shelter (e.g., Coleoptera), structural support (e.g., Neuroptera), reproduction (e.g., Thysa-noptera), foraging (e.g., Trichoptera), or dispersal (e.g., Lepidoptera) (Craig, 1997). Moreover, some insects and spiders use their silks for life lines (e.g., Lepidoptera) or as a support for chemical communication among individuals (caterpillars, spiders) (Anderson and Morse, 2001; Clark et al., 1999; Fitzgerald, 1993). In the case of T. urticae, silk was reported to play four main purposes: (1) protection against biotic agents like mites predators (Helle and Sabelis, 1985; Hoy and Smi-lanick, 1981) or competitors (Van Impe, 1985), (2) pro-tection against abiotic agents, such as eggs protection against extreme humidity conditions (Hazan et al., 1975) or rain (Linke, 1953), wind (Davis, 1952), and acaricides (Davis, 1952; Linke, 1953), (3) sex phero-mone substrate or carrier (Cone et al., 1971; Penman and Cone, 1974), which stimulates male searching behavior for quiescent deutonymphs (Penman and Cone, 1972), and (4) locomotion and dispersion (Saitô, 1977, 1979; Yano, 2008). Previous works have allowed a better understanding of T. urticae silk roles (Cone et al., Yano, 2008), but T. urticae silk itself remains poorly studied and only one work has been published on its chemical com-position (Hazan et al., 1975). In spite of the silk value for T. urticae survival, web architecture is still unex-plored. The first step to study T. urticae silk networks is to visualize the silk. The ability to visualize T. urticae silk using fluorescent stain could be a useful tool for

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• Resource influence on the form of fur rubbing behaviour in white-faced capuchins.

  Authors: H Meunier, O Petit, J L Deneubourg

  Behavioural processes. 04/2008; 77(3):320-6.

  Self-medicative behaviours have been largely documented in vertebrates and, in particular, the use of plants for pharmacological purposes has been mainly reported in primates. White-faced capuchinsSelf-medicative behaviours have been largely documented in vertebrates and, in particular, the use of plants for pharmacological purposes has been mainly reported in primates. White-faced capuchins are known to rub specifically chosen plants and other substances on their fur. To better understand the mechanisms underlying this phenomenon and investigate the influence of different plant resources on the form of fur rubbing activity, we conducted experiments using different randomly selected plant items: oranges and onions. We found that (1) capuchins showed different degrees of interest in the materials used to fur rub; (2) the mean group dynamics differ drastically according to the resource supplied; and (3) individuals present strong differences in their social behaviour, i.e. they spent more or less time fur rubbing in spatial proximity of conspecifics according to the material used for fur rubbing. We propose hypotheses on possible proximal causes for these differences and highlight that some precautions have to be taken in behavioural studies including only one resource type.

• Social facilitation of fur rubbing behavior in white-faced capuchins.

  Authors: H Meunier, O Petit, J L Deneubourg

  American journal of primatology. 03/2008; 70(2):161-8.

  In their natural environment, capuchins select certain plants, containing secondary compounds with bactericide, insecticide or fungicide properties, to rub their pelage energetically (i.e. furIn their natural environment, capuchins select certain plants, containing secondary compounds with bactericide, insecticide or fungicide properties, to rub their pelage energetically (i.e. fur rubbing). Fur rubbing can be performed in solitary, or collectively in subgroups of variable size and composition, and most of the time fur rubbing happens in synchrony with other group members. The aim of this study is to understand the underlying mechanisms of this phenomenon, and, more particularly, to determine the processes involved in its synchronization. For this purpose, we designed a set of experiments where white-faced capuchins (Cebus capucinus) were presented with onions (Allium cepa) that they use to fur rub. We conducted a detailed kinetic study of fur rubbing behavior to determine if its synchronization is the consequence of simultaneous responses of different individuals to the same stimulus or if, on the contrary, there is a real collective phenomenon where individuals respond to conspecific behavior. Our results reveal that fur rubbing is a collective behavior with a mimetic underlying mechanism. If fur rubbing with onions (a plant with antifungal and repellent properties) allows capuchins to treat their fur against parasites or pathogens, its synchronization would optimize the treatment by acting as a group barrier to ectoparasite propagation.

• Social integration of robots into groups of cockroaches to control self-organized choices.

  Authors: J. Halloy, G. Sempo, G. Caprari, C Rivault, M. Asadpour, F. Tâche, I Saïd, V Durier, S. Canonge, J M Amé, C Detrain, N. Correll, A. Martinoli, F. Mondada, R. Siegwart, J L Deneubourg

  Science (New York, N.Y.). 12/2007; 318(5853):1155-8.

  Collective behavior based on self-organization has been shown in group-living animals from insects to vertebrates. These findings have stimulated engineers to investigate approaches for theCollective behavior based on self-organization has been shown in group-living animals from insects to vertebrates. These findings have stimulated engineers to investigate approaches for the coordination of autonomous multirobot systems based on self-organization. In this experimental study, we show collective decision-making by mixed groups of cockroaches and socially integrated autonomous robots, leading to shared shelter selection. Individuals, natural or artificial, are perceived as equivalent, and the collective decision emerges from nonlinear feedbacks based on local interactions. Even when in the minority, robots can modulate the collective decision-making process and produce a global pattern not observed in their absence. These results demonstrate the possibility of using intelligent autonomous devices to study and control self-organized behavioral patterns in group-living animals.

• Group movement decisions in capuchin monkeys : the utility of an experimental study and a mathematical model to explore the relationship between individual and collective behaviours

  Authors: H Meunier, J. -B. Leca, J L Deneubourg, O Petit

  03/2007;

  In primate groups, collective movements are typically described as processes dependent on leadership mechanisms. However, in some species, decision-making includes negotiations and distributedIn primate groups, collective movements are typically described as processes dependent on leadership mechanisms. However, in some species, decision-making includes negotiations and distributed leadership. These facts suggest that simple underlying processes may explain certain decision mechanisms during collective movements. To study such processes, we have designed experiments on white-faced capuchin monkeys (Cebus capucinus) during which we provoked collective movements involving a binary choice. These experiments enabled us to analyse the spatial decisions of individuals in the group.We found that the underlying process includes anonymous mimetism, which means that each individual may influence all members of the group. To support this result, we created a mathematical model issued from our experimental data. A totally anonymous model does not fit perfectly with our experimental distribution. A more individualised model, which takes into account the specific behaviour of social peripheral individuals, revealed the validity of the mimetism hypothesis. Even though white-faced capuchins have complex cognitive abilities, a coexistence of anonymous and social mechanisms appears to influence their choice of direction during collective movements. The present approach may offer vital insights into the relationships between individual behaviours and their emergent collective acts.

• SwisTrack: A Tracking Tool for Multi-Unit Robotic and Biological Systems

  Authors: N. Correll, G. Sempo, Y. Lopez de Meneses, J. Halloy, J.-L. Deneubourg, A. Martinoli

  Intelligent Robots and Systems, 2006 IEEE/RSJ International Conference on; 11/2006

  Tracking of miniature robotic platforms involves major challenges in image recognition and data association. We present our 3-year effort into developing the platform-independent, easy-to-use, andTracking of miniature robotic platforms involves major challenges in image recognition and data association. We present our 3-year effort into developing the platform-independent, easy-to-use, and robust tracking software SwisTrack, which is tailored to research in swarm robotics and behavioral biology. We demonstrate the software and algorithms abilities using two case studies, tracking of a swarm of cockroaches, and a swarm-robotic inspection task, while outlining hard problems in tracking and data-association of marker-less objects. Tracking accuracy of a moving robot with respect to camera noise and the calibration model are calculated experimentally. Its open, platform-independent architecture, and easy-to-use interfaces (Matlabtrade, Javatrade, and C++), allowing for (distributed) post-processing of trajectory data online, make the software highly adaptive to particular research projects without changes to the source code. SwisTrack is publicly available on Sourceforge.net under the OSI Adaptive License and contributions from the robotics and biology community are encouraged

• Individual discrimination capability and collective decision-making.

  Authors: J Millor, J M Amé, J. Halloy, J L Deneubourg

  Journal of theoretical biology. 05/2006; 239(3):313-23.

  Amplification is the main component of many collective phenomena in social and gregarious insects. In a society, individuals face a mixed palette of odours coming from different groups (lines,Amplification is the main component of many collective phenomena in social and gregarious insects. In a society, individuals face a mixed palette of odours coming from different groups (lines, strains) and individuals present discrimination capabilities. However, often at the collective level, different groups may cooperate and act together. To understand this apparent contradiction, we use a model of food recruitment where each group of foragers have its own blend of pheromone trail that is partly recognized by the others groups. The model shows that a low level of recognition between signals is sufficient to produce a collaborative pattern between groups and that beyond a critical value of recognition, only the aggregation of all the groups around the same food source is observed. The comparison between this model and one describing the site selection by gregarious insects (e.g. cockroach) suggests that such collective response is a generic property of social phenomena governed by amplification processes.

• Division of Labor in a Group of Robots Inspired by Ants' Foraging Behavior

  Authors: T. H. Labella, M. Dorigo, J. -L. Deneubourg

  ACM Transactions on Autonomous and Adaptive Systems. 01/2006; 1(1):4-25.

• The Ecology of the Grid

  Authors: F. Saffre, J. Halloy, J.L. Deneubourg

  Autonomic Computing, 2005. ICAC 2005. Proceedings. Second International Conference on; 07/2005

  In this paper, we show how self-* mechanisms give rise to complex but predictable and therefore steerable global system behavior in a cooperative computing environment. We simulate the operation ofIn this paper, we show how self-* mechanisms give rise to complex but predictable and therefore steerable global system behavior in a cooperative computing environment. We simulate the operation of and interactions between a set of networked autonomic devices. These are used as access points to a number of services, have the ability to accept or delegate execution of the associated tasks, and can adjust their internal state in response to the demand. We study the emergence of cooperation, and find that it spontaneously occurs when specific conditions are met that allow individual devices to focus on performing a single task, sacrificing their ability to efficiently perform others

• Animal and robot mixed societies: building cooperation between microrobots and cockroaches

  Authors: G. Caprari, A. Colot, R. Siegwart, J. Halloy, J.-L. Deneubourg

  Robotics & Automation Magazine, IEEE. 07/2005;

  This paper presents the European project LEURRE which deals with the cooperation between robots and animals in a social context. Its main objective is to demonstrate the possible control of suchThis paper presents the European project LEURRE which deals with the cooperation between robots and animals in a social context. Its main objective is to demonstrate the possible control of such mixed societies. The control of interactions between artificial systems and living organisms is a key challenge in many scientific fields like medicine, agriculture, and ethology. All biological levels are concerned: the cellular level regarding, for example, interfaces between artificial systems and cells like neurons; the organism level regarding intelligent prosthesis; and the human level as it relates to cooperation between humans and robots. For research dealing with animal societies, it is convenient to use animals that allow detailed analysis and modeling. For this reason, gregarious insects are a good choice. The artificial agent in the mixed society is an autonomous mobile robot. The recent results achieved in this field allows the design of a miniature robot with sufficient performance to interact with insects. It is called InsBot for "insect-like robot". To achieve the goals, American cockroaches and miniature robots were used to form the experimental mixed society.

• Division of Labour in a Group of Robots Inspired by Ants' Foraging Behaviour

  Authors: T. H. Labella, M. Dorigo, J. -L. Deneubourg

  01/2005;

• Evolving Self-Organizing Behaviors for a Swarm-Bot

  Authors: M. Dorigo, V. Trianni, E. cSahin, R. Groß, T. H. Labella, G. Baldassarre, S. Nolfi, J. -L. Deneubourg, F. Mondada, D. Floreano, L. M. Gambardella

  Autonomous Robots. 01/2004; 17(2--3):223-245.