P.P. Grass. La Reconstruction du nid et les Coordinations InterIndividuelles chez Beellicositermes Natalensis et Cubitermes sp. La Thorie de la Stigmergie : Essai d'interprtation du Comportement des Termites Constructeurs in Insect. Soc. 6. Morgan Kaufmann, 1959.  Home/Search   Document Not in Database   Summary   Related Articles   Check

....which presents the shortest path nding behavior. In a sense, this behavior is an emergent property of the ant colony. It is also interesting to note that ants can perform this speci c behavior using a simple form of indirect communication mediated by pheromone laying, known as stigmergy [60]. As de ned by Grass e in his work on Bellicositermes Natalensis and Cubitermes [60] stigmergy is the stimulation of workers by the performance they have achieved. The above described experiments have been run in strongly constrained conditions. A formal proof of the pheromone driven ....

....an emergent property of the ant colony. It is also interesting to note that ants can perform this speci c behavior using a simple form of indirect communication mediated by pheromone laying, known as stigmergy [60] As de ned by Grass e in his work on Bellicositermes Natalensis and Cubitermes [60], stigmergy is the stimulation of workers by the performance they have achieved. The above described experiments have been run in strongly constrained conditions. A formal proof of the pheromone driven shortest path nding behavior in the general case is missing. Bruckstein et al. 9, 10] ....

[Article contains additional citation context not shown here]

P. P. Grasse. La reconstruction du nid et les coordinations interindividuelles chez bellicositermes natalensis et cubitermes sp. La theorie de la stigmergie: essai d'interpretation du comportement des termites constructeurs. Insectes Sociaux, 6:41-81, 1959.

....role of the pheromone trails T is to make available the information gathered on a particular path by one ant belonging to one given cohort, to other ants of a future cohort ; it is therefore a form of inter cohort communication mediated by the graph G r . For real insects, the notion of stigmergy [16] has been introduced to denote a form of stimulation [ by the very performance [ achieved. More in general, the term has been used to describe any indirect communication mediated by modi cation of the environment that can be observed in social insects [5, 8] Accordingly, in the ....

P. P. Grasse. La reconstruction du nid et les coordinations interindividuelles chez bellicositermes natalensis et cubitermes sp. La theorie de la stigmergie: essai d'interpretation du comportement des termites constructeurs. Insectes Sociaux, 6:41-81, 1959.

....problems that has been inspired by the foraging behavior of ant colonies. In ACO algorithms the computational resources are allocated to a set of relatively simple agents (arti cial ants) that exploit stigmergic communication, that is, a form of indirect communication mediated by the environment [11], 4] to construct solutions to the considered problem. The construction of good solutions is a result of the agents cooperative interaction. In the last ten years a number of applications to many di erent NP hard combinatorial optimization problems [5] 6] has empirically shown the ....

P. P. Grasse. La reconstruction du nid et les coordinations interindividuelles chez bellicositermes natalensis et cubitermes sp. La theorie de la stigmergie: es- sai d'interpretation du comportement des termites constructeurs. Insectes Sociaux, 6:41-81, 1959.

....in nature and human societies alike. One well know example is provided by the emergence of self organization in social insects, via direct (mandibular, antennation, chemical or visual contact, etc) or indirect interactions. The latter types are more subtle and defined by Grass as stigmergy [11,12] to explain task coordination and regulation in the context of nest reconstruction in Macrotermes termites. An example [3] could be provided by two individuals, who interact indirectly when one of them modifies the environment and the other responds to the new environment at a later time. In ....

P.-P. Grass (1959), "La Reconstruction du Nid et les Coordinations Inter-Individuelles chez Bellicositermes Natalensis et Cubitermes sp. La Thorie de la Stimergie: Essai d'interprtation du Comportement des Termites Constructeurs", Insect Societies, 6, pp. 41-80.

....increases with the di erence in length between the two branches. The emergence of this shortest path selection behavior can be explained in terms of autocatalysis (positive feedback) and di erential path length, and it is made possible by an indirect form of communication, known as stigmergy [32] mediated by local modi cations of the environment. In fact, Argentine ants, while going from the nest to the food source and vice versa, deposit a chemical substance, called pheromone, on the ground. When they arrive at a decision point, like the intersection between left and right branches, ....

P. P. Grasse. La reconstruction du nid et les coordinations interindividuelles chez bellicositermes natalensis et cubitermes sp. La theorie de la stigmergie: essai d'interpretation du comportement des termites constructeurs. Insectes Sociaux, 6:41{ 81, 1959.

.... de plus grande chelle, telle que la construction d une termitire, comme suggr dans [45] On constate alors que la structure en cours de construction grande chelle rtro agt sur l activit des agents via, un processus quali de stigmergique, notion introduite historiquement par les entomologistes [31]. Les SMA ractifs sont galement utiliss en cologie pour la comprhension des co systmes [17] L agent y reprsente une entit biologique dont le mtabolisme est dcrit avec une plus ou moins grande pr cision [18, 32] L animation du modle par des simulations permet d explorer l in uence de tel ou tel ....

P. Grass. La reconstruction du nid et les coordinations inter-individuelles chez Bellicositermes natalensis et Cucitermes8/ sp. la thorie de la stigmergie : essai d'interprtation des termites constructeurs. Insectes sociaux, 6:4183, 1959.

....The swarm intelligence design approach adapts robust, self organizing coordination mechanisms observed in distributed natural systems (e.g. social insect colonies) to engineered systems. One of the most powerful global coordination mechanisms in distributed biological systems is stigmergy [7], from the Greek words stigma sign and ergos work . The work performed by the agents in the environment in turn guides their later actions a feedback loop that establishes dynamic information flows across the population and guides its operation. The remainder of this paper is structured as ....

P.-P. Grass. La Reconstruction du nid et les Coordinations Inter-Individuelles chez Bellicositermes Natalensis et Cubitermes sp. La thorie de la Stigmergie: Essai d'interprtation du Comportement des Termites Constructeurs. Insectes Sociaux, 6:41-84, 1959.

....of an termite in terms of a set of internal rules in response to its environment, but in order for the account to make any sense to us it must be placed in the context of the whole colony. No one termite repairs a hole in one of its tunnels only the colony of termites (via a process of stigmergy: [19]) Here one could say that the ants were socially situated but not socially embedded, since one can model the system with an essentially unitary model of the environment, which each of the ants separately interact with. Finally, in modelling the movements of people at a party, it is possible ....

Grass P. P. (1959). La reconstruction du nid et les coordinations inter-individuelles chez Bellicositermes natalensis et Cubitermes sp. La theorie de la stigmergie: Essai d'interpretation des termites constructeurs. Insect Societies, 6:41-83.

....in nature and human societies alike. One well know example is provided by the emergence of self organization in social insects, via direct (mandibular, antennation, chemical or visual contact, etc) or indirect interactions. The latter types are more subtle and defined by Grass as stigmergy [10,11] to explain task coordination and regulation in the 1 CVRM IST Geo Systems Center, Instituto Superior T6cnico, Av. Rovisco Pais, 1049 001, Lisbon, PORTUGAL, vitorino.ramos 2alfa.ist.utl.pt. Grupo GeNeura, Dpto. de Arquitectura y Tecnologia de Computadores, Facultad de Ciencias, Campus ....

Grass6, P.-P. "La Reconstruction du nid et les Coordinations Inter-Individuelles chez Bellicositermes Natalensis et Cubitermes sp. La th6orie de la Stimergie: Essai d'interpr6tation du Comportement des Termites Constmcteurs" Insect Soc., 6, pp. 41-80, 1959.

....in the Proceedings of the NASA JPL Workshop on Radical Agent Concepts (WRAC 2001) Greenbelt, MD, Sept. 19 21, 2001 passive communications framework and agents are viewed as interacting directly with one another (dotted lines in Fig. 1) This pattern of interaction is called stigmergy [8], from the Greek words stigma sign and ergos work : the work performed by the agents in the environment in turn guides their later actions. Such techniques are common in biological distributed decentralized systems such as insect colonies [18] Why is it important Understanding ....

Grass, P.-P. La Reconstruction du nid et les Coordinations Inter-Individuelles chez Bellicositermes Natalensis et Cubitermes sp. La thorie de la Stigmergie: Essai d'interprtation du Comportement des Termites Constructeurs. Insectes Sociaux, 6:41-84, 1959.

....is perceived in terms of 5 environmental dynamics. This pattern of interaction of components through a shared environment that they both sense and change by their individual actions is called stigmergy, because their actions generate signs (Greek stigma) that guide action (Greek ergos) [Gra59]. It is worth noting that the figures depict a scenario that is very different from that of component based and object based programming. Here, the notion of application is replaced by the notion of interacting systems . Here, not only objects and components are part of the system, but also ....

P.-P. Grass. La Reconstruction du nid et les Coordinations Inter-Individuelles chez Bellicositermes Natalensis et Cubitermes sp. La thorie de la Stigmergie: Essai d'interprtation du Comportement des Termites Constructeurs. Insectes Sociaux, 6:41-84, 1959.

....can be built with simple basic bricks: swarms of simple agents that interact with and through their environment. This interaction is mainly based on a marking mechanism and is using as medium a chemical volatile substance called pheromone. This indirect communication mechanism, called stigmergy in [11], is the root of the emerging complex properties of systems made of unintelligent reactive agents. This mechanism is for example used to trigger and coordinate the defense of an anthill, gather food, or build complex architectural creations. We thought it would be very interesting to implement ....

P. P. Grasse. La reconstruction du nid et les coordinations inter-individuelles chez les bellicoitermes natalenis et cubitermes sp, la theorie de la stigmergie : essai d'interpretation des termites constructeurs. Insect Societies, 6:41-43, 1959. In French.

....all involve communication among peers. The bulk of research on negotiation focuses on direct peer to peer information flows, or Conversation. Indirect decentralized flows occur when peers make and sense changes to endogenous environmental variables. This class of Coordination is called stigmergy, [13], from the Greek words stigma sign and ergos work: the work performed by the agents in the environment in turn guides their later actions. Such techniques are common in biological distributed decentralized systems such as insect colonies [26] A particularly common form of stigmergy is resource ....

P.-P. Grass. La Reconstruction du nid et les Coordinations Inter-Individuelles chez Bellicositermes Natalensis et Cubitermes sp. La thorie de la Stigmergie: Essai d'interprtation du Comportement des Termites Constructeurs. Insectes Sociaux, 6:41-84, 1959.

....Dorigo and Gambardella Ant Colony System 5 Pheromone placed on the edges plays the role of a distributed long term memory: This memory is not stored locally within the individual ants, but is distributed on the edges of the graph. This allows an indirect form of communication called stigmergy [23], 9] The interested reader will find a full description of ant system, of its biological motivations, and computational results in [12] Although ant system was useful for discovering good or optimal solutions for small TSPs (up to 30 cities) the time required to find such results made it ....

P. P. Grass, "La reconstruction du nid et les coordinations inter-individuelles chez Bellicositermes natalensis et Cubitermes sp . La thorie de la stigmergie: Essai d'interprtation des termites constructeurs," Insect Sociaux, vol. 6, pp. 41--83, 1959.

.... autonomous entities, both proactive and reactive, and have the capability to adapt, cooperate and move intelligently from one location to the other in the communication network [4] Swarm intelligence, in particular, uses stigmergy (i.e. communication through the environment) for agent interaction [5,6,7,9]. Swarm intelligence exhibits emergent behavior wherein simple interactions of autonomous agents, with simple primitives, give rise to a complex behavior that has not been specified explicitly [8] In Section II, we give an overview of existing routing algorithms, including their individual ....

Grass, P.P. 1959. La reconstruction du nid et les coordinations interindividuelles chez Bellicositermes natalensis et Cubitermes sp. La theorie de la stigmergie: Essai d'interpretation des termites constructeurs. Ins. Soc., 6, 41-83.#

....routing algorithm we propose in this paper is a mobileagent based, online Monte Carlo technique inspired by previous work on arti#cial ant c #1998 AI Access Foundation and Morgan Kaufmann Publishers. All rights reserved. Di Caro Dorigo colonies and, more generally, by the notion of stigmergy #Grass#e, 1959#, that is, the indirect communication taking place among individuals through modi#cations induced in their environment. Algorithms that take inspiration from real ants behavior in #nding shortest paths #Goss, Aron, Deneubourg, Pasteels, 1989; Beckers, Deneubourg, Goss, 1992# using as ....

....by the other ants. The representation of the problem is modi#ed in suchaway that information contained in past good solutions can be exploited to build new better solutions. This form of indirect communication mediated by the environment is called stigmergy, and is typical of social insects #Grass#e, 1959#. In AntNet, we retain the core ideas of the arti#cial ant colony paradigm, and we apply them to solve in an adaptiveway the routing problem in datagram networks. Informally, the AntNet al..gorithm and its main characteristics can be summarized as follows. # At regular intervals, and ....

Grass#e, P. P. #1959#. La reconstruction du nid et les coordinations interindividuelles chez bellicositermes natalensis et cubitermes sp. La th#eorie de la stigmergie: essai d'interpr#etation du comportement des termites constructeurs. Insectes Sociaux, 6, 41#81.

....of such networks being the Internet, and without congestion or admission control components. The routing algorithm that we propose in this paper was inspired by previous works on ant colonies and, more generally,by the notion of stigmergy. The term stigmergy was #rst introduced by Grass#e #Grass#e, 1959# to describe the indirect communication taking place among individuals through modi#cations induced in their environment. Real ants have been shown to be able to #nd shortest paths using as only information the pheromone trail deposited by other ants #Goss, Aron, Deneubourg, Pasteels, 1989; ....

....uses it to realize the next node transition and, at the same time, it will modify it, modifying in this way the local state of the node as seen by future agents. This speci#c form of indirect communication through the environment with no explicit level of agents coordination is called stigmergy #Grass#e, 1959; Schoonderwoerd et al. 1997a; Stone Veloso, 1996#. We used stigmergy as a wayof transmitting the information associated with every #experiment made by each agent#we could see our system as a particular instance of an iterated Monte Carlo simulation#. 6. Routing Algorithms Used for ....

Grass#e, P.P. #1959#. La reconstruction du nid et les coordinations interindividuelles chez Bellicositermes Natalensis et Cubitermes sp. La th#eorie de la stigmergie: essai d'interpr#etation du comportement des termites constructeurs. Insectes Sociaux, 6, 41#81.

....behavior in finding shortest paths have recently been successfully applied to combinatorial optimization [3,6,11,12,13] In ant colony optimization a set of artificial ants collectively solve a combinatorial problem by a cooperative effort. This effort is mediated by stigmergetic communication [3, 14], that is, a form of indirect communication of information on the problem structure ants collect while building solutions. In this paper we present AntNet, a novel ACO algorithm applied to the routing problem in connectionless communications networks. In AntNet artificial ants collectively solve ....

....by a single ant. It is the interaction between the ants that determines the emergence of a global effective behavior from the network performance point of view. The key concept in the cooperative aspect lies in the indirect and non coordinated way communication among ants happens (stigmergy) [14]. We used stigmergy as a way of recursively transmitting, through the nodes structures, the information associated with every experiment made by each ant (AntNet can be seen as a particular instance of a parallel replicated Monte Carlo simulation) 4. Experimental Settings We have selected a ....

Grass P. P. 1959. La reconstruction du nid et les coordinations inter-individuelles chez Bellicositermes natalensis et Cubitermes sp. La thorie de la stigmergie: Essai d'interprtation des termites constructeurs. Insect Sociaux 6: 41--83.

....we focus on routing for wide area datagram networks with irregular topology, the most remarkable example of such networks being the Internet. The routing algorithm that we propose in this paper was inspired by previous works on ant colonies and, more generally, by the notion of stigmergy [15], that is, the indirect communication taking place among individuals through modifications induced in their environment. Real ants have been shown to be able to find shortest paths using as only information the pheromone trail deposited by other ants [2] Algorithms that take inspiration from ....

....will be delayed. This has a double effect: i) the trip time will grow and then back propagated probability increments will be small, and (ii) at the same time these increments will be assigned with a bigger delay. the indirect and non coordinated way communication among ants happens (stigmergy, [15]) We used stigmergy as a way of recursively transmitting, through the nodes structures, the information associated with every experiment made by each ant. 5. Routing Algorithms Used for Comparison The following algorithms, belonging to the various possible combinations of static and ....

Grass P. P. 1959. La reconstruction du nid et les coordinations inter-individuelles chez Bellicositermes natalensis et Cubitermes sp. La thorie de la stigmergie: Essai d'interprtation des termites constructeurs. Insect Sociaux 6: 41--83.

....feedback loop building a good solution in our system, we also use repellent pheromones. In this model, agents do not communicate directly; only the trails perceived in the environment will inAEuence an agent s behaviour. This indirect communication mechanism, called stigmergy by P.P. Grass# [Grass#, 1959], is the root of the emerging complex properties of systems made of unintelligent reactive agents. Such a natural distributed system is very eOEcient 1 . This eoeectiveness and the fact that a network of computers can be viewed as a very dynamic environment motivated us to create a distributed ....

P. P. Grass#. La reconstruction du nid et les coordinations inter- individuelles chez les bellicoitermes natalenis et cubitermes sp, la th#orie de la stigmergie : essai d'interpr#tation des termites constructeurs. Insect Societies.

....observations in order to perform an action chosen from those available to it. These actions include modification of the environment in which the agent operates. Intelligent behavior frequently arises through indirect communication between the agents, this being the principle of stigmergy [12]. It should be stressed, however, that the individual agents have no explicit problem solving knowledge and intelligent behavior arises (or emerges) because of the actions of societies of such agents. Individual ants are behaviorally simple insects with limited memory and exhibiting activity that ....

Grass P.P., La reconstruction du nid et les coordinations inter-individuelles chez Bellicoitermes natalenis et Cubitermes sp. La theorie de la stigmergie: Essai d'interpretation des termites constructeurs. In Insect Societies, Vol. 6, pp. 41-83, 1959.

.... than two meters high and one meter 21 in diameter at its base [68] Its construction, through a linear series of building steps, is hypothesized to be the result of a building program and stimulus cues used to switch between construction steps, and forms the basis of Grass e s Stigmergy Theory [26]. Can the many examples of perceptual cues, used to trigger behaviour sequences in biological systems, be used to design a similar mechanism for multi robot control And can these same cues also be used to govern transitions between task steps in robotic systems the same way they regulate building ....

....confirmation of the proposed framework, rather in the questions raised, and discussed in the sequel. These open new vistas for exploration. 94 Chapter 6 Global Action: Results Stigmergy, a term coined by French biologist P. Grass e, which means to incite work by the effect of previous work [26] is a principle finding its way from the field of social insects to collective robotics [11, 70] With their limited repertoire of behavioural acts social insects display an amazing competence in building nest structures. From the simple nests produced by the blind bulldozing of ants [23] to the ....

[Article contains additional citation context not shown here]

P. Grass'e. La reconstruction du nid et les coordinations interindividuelles chez bellicositermes natalensis et cubitermes sp. la th'eorie de la stigmergie: essai d'interpr'e. Insectes Sociaux, 6:41--81, 1959. 123

....have intelligent individuals but a dumb collective. Let us see whether investigations of existing intelligent collectives can help us to overcome this problem of coordination between individuals. 2.3. Stigmergy While studying the way termites build their mounds, the French entomologist Pierre Grass (1959) discovered an important mechanism, which he called stigmergy . He observed that at first different termites seem to drop mud more or less randomly. However, the presence of a heap of mud incites other termites to add mud to that heap, rather than start a heap of their own. The larger the heap, ....

Grass-P. (1959), "La reconstruction du nid et les coordinations inter-individuelles chez Bellicositermes natalis et Cubitermes sp. La thorie de la stigmergie", Insectes Sociaux , 6, 41-83.

....increases with the difference in length between the two branches. The emergence of this shortest path selection behavior can be explained in terms of autocatalysis (positive feedback) and differential path length, and it is made possible by an indirect form of communication, known as stigmergy [32] mediated by local modifications of the environment. In fact, Argentine ants, while going from the nest to the food source and vice versa, deposit a chemical substance, called pheromone, on the ground. When they arrive at a decision point, like the intersection between left and right branches, ....

P. P. Grass'e. La reconstruction du nid et les coordinations interindividuelles chez bellicositermes natalensis et cubitermes sp. La th'eorie de la stigmergie: essai d'interpr'etation du comportement des termites constructeurs. Insectes Sociaux, 6:41-- 81, 1959.

....observations in order to perform an action chosen from those available to it. These actions include modification of the environment in which the agent operates. Intelligent behavior frequently arises through indirect communication between the agents, this being the principle of stigmergy [12]. It should be stressed, however, that the individual agents have no explicit problem solving knowledge and intelligent behavior arises (or emerges) because of the actions of societies of such agents. Individual ants are behaviorally simple insects with limited memory and exhibiting activity that ....

Grassé P.P., La reconstruction du nid et les coordinations inter-individuelles chez Bellicoitermes natalenis et Cubitermes sp. La theorie de la stigmergie: Essai d'interpretation des termites constructeurs. In Insect Societies, Vol. 6, pp. 41-83, 1959. 2 The authors would like to acknowledge the contribution of one of the reviewers here.

....toward the edge of the test area. The coordination demonstrated was possible by using a common goal and behaving using a simple noninterference principle [40] The result demonstrated a simple cooperation without direct communication, although indirect communication occurs through stigmergy (see [21]) Further simulation results showed that the success rate for nondirected box12 pushing 4 increases as a function of the number of robots up to a point that appeared dependent on the size of the box. However, the system would stagnate or deadlock when an equal number of pushing robots ....

....its well de ned mushroom shape, is constructed through a series of building steps. Each construction phase is thought to be governed by a building program with step transition speci ed as stimulus cues. In fact, this communication through the environment is the basis of Grass e s Stigmergy Theory [21]. Thus describing a task as a series of steps with the transition between the steps speci ed as locally sensed cues formed the basis of our approach to task modelling [31] In this section we brie y describe the directed box pushing model and present new results of experiments using four di erent ....

[Article contains additional citation context not shown here]

Grasse, P. La reconstruction du nid et les coordinations interindividuelles chez Bellicositermes natalensis et Cubitermes sp. La theorie de la stigmergie: essai d'interpre. Insectes Sociaux 6 (1959): 41-81.

....algorithms that take inspiration by some aspects of social insects behavior. In general, ant algorithms are characterized by being multi agent systems using only local information to make stochastic decisions and interacting with each other via a form of indirect communication called stigmergy [28]. A general introduction to ant algorithms can be found in Bonabeau, Dorigo, and Theraulaz [5] In this paper we limit our attention to ACO algorithms, a particular class of ant algorithms which follow the meta heuristic described in Dorigo, Di Caro, and Gambardella [16] and Dorigo and Di Caro ....

P. P. Grass'e. La Reconstruction du Nid et les Coordinations Interindividuelles chez bellicositermes natalensis et cubitermes sp. La Th'eorie de la Stigmergie: Essai d'interpr'etation du Comportement des Termites Constructeurs. Insectes Sociaux, 6:41--81, 1959.

....Dorigo and Gambardella Ant Colony System 5 Pheromone placed on the edges plays the role of a distributed long term memory: This memory is not stored locally within the individual ants, but is distributed on the edges of the graph. This allows an indirect form of communication called stigmergy [23], 9] The interested reader will find a full description of ant system, of its biological motivations, and computational results in [12] Although ant system was useful for discovering good or optimal solutions for small TSPs (up to 30 cities) the time required to find such results made it ....

P. P. Grassé, "La reconstruction du nid et les coordinations inter-individuelles chez Bellicositermes natalensis et Cubitermes sp . La théorie de la stigmergie: Essai d'interprétation des termites constructeurs," Insect Sociaux, vol. 6, pp. 41--83, 1959.

....algorithm we propose in this paper is a mobileagent based, online Monte Carlo technique inspired by previous work on artificial ant c fl1998 AI Access Foundation and Morgan Kaufmann Publishers. All rights reserved. Di Caro Dorigo colonies and, more generally, by the notion of stigmergy (Grass e, 1959), that is, the indirect communication taking place among individuals through modifications induced in their environment. Algorithms that take inspiration from real ants behavior in finding shortest paths (Goss, Aron, Deneubourg, Pasteels, 1989; Beckers, Deneubourg, Goss, 1992) using as ....

....by the other ants. The representation of the problem is modified in such a way that information contained in past good solutions can be exploited to build new better solutions. This form of indirect communication mediated by the environment is called stigmergy, and is typical of social insects (Grass e, 1959). In AntNet, we retain the core ideas of the artificial ant colony paradigm, and we apply them to solve in an adaptive way the routing problem in datagram networks. Informally, the AntNet al..gorithm and its main characteristics can be summarized as follows. ffl At regular intervals, and ....

Grass'e, P. P. (1959). La reconstruction du nid et les coordinations interindividuelles chez bellicositermes natalensis et cubitermes sp. La th'eorie de la stigmergie: essai d'interpr'etation du comportement des termites constructeurs. Insectes Sociaux, 6, 41--81.

....of such networks being the Internet, and without congestion or admission control components. The routing algorithm that we propose in this paper was inspired by previous works on ant colonies and, more generally, by the notion of stigmergy. The term stigmergy was first introduced by Grass e (Grass e, 1959) to describe the indirect communication taking place among individuals through modifications induced in their environment. Real ants have been shown to be able to find shortest paths using as only information the pheromone trail deposited by other ants (Goss, Aron, Deneubourg, Pasteels, 1989; ....

....uses it to realize the next node transition and, at the same time, it will modify it, modifying in this way the local state of the node as seen by future agents. This specific form of indirect communication through the environment with no explicit level of agents coordination is called stigmergy (Grass e, 1959; Schoonderwoerd et al. 1997a; Stone Veloso, 1996) We used stigmergy as a way of transmitting the information associated with every experiment made by each agent (we could see our system as a particular instance of an iterated Monte Carlo simulation) 6. Routing Algorithms Used for ....

Grass'e, P. P. (1959). La reconstruction du nid et les coordinations interindividuelles chez Bellicositermes Natalensis et Cubitermes sp. La th'eorie de la stigmergie: essai d'interpr'etation du comportement des termites constructeurs. Insectes Sociaux, 6, 41--81.

....the most remarkable example of such networks being the Internet, and without congestion or admission control components. The routing algorithm that we propose in this paper was inspired by previous works on ant colonies and, more generally, by the notion of stigmergy, introduced by Grass e [7] to describe the indirect communication taking place among individuals through modifications induced in their environment. Real ants have been shown to be able to find shortest paths using only the pheromone trail deposited by other ants [1] Algorithms which take inspiration from ants behavior in ....

....uses it to realize the next node transition and, at the same time, it will modify it, modifying in this way the local state of the node as seen by future agents. This specific form of indirect communication through the environment with no explicit level of agents coordination is called stigmergy [7, 13, 15]. Active stigmergy occurs when an agent alters the environment so as to affect the input of another agent, passive stigmergy occurs when an agent alters the environment in such a way that the effect of the actions of the other agents is no more the same. In our case we used active stigmergy as a ....

P. P. Grass'e. La reconstruction du nid et les coordinations interindividuelles chez bellicositermes natalensis et cubitermes sp. La th'eorie de la stigmergie: essai d'interpr'etation du comportement des termites constructeurs. Insectes Sociaux, 6:41-- 81, 1959.

....observations in order to perform an action chosen from those available to it. These actions include modification of the environment in which the agent operates. Intelligent behavior frequently arises through indirect communication between the agents, this being the principle of stigmergy [11]. It should be stressed, however, that the individual agents have no explicit problem solving knowledge and intelligent behavior arises because of the actions of societies of agents. Two forms of stigmergy have been described. Sematectonic stigmergy involves a change in the physical ....

Grassé P.P., La reconstruction du nid et les coordinations inter-individuelles chez Bellicoitermes natalenis et Cubitermes sp. La theorie de la stigmergie: Essai d'interpretation des termites constructeurs. In Insect Societies, Vol. 6, pp. 41-83.

....visited edges, and to pheromone evaporation. Pheromone placed on the edges plays the role of a distributed long term memory: This memory is not stored locally within the individual ants, but is distributed on the edges of the graph. This allows an indirect form of communication called stigmergy [23], 9] The interested reader will find a full description of ant system, of its biological motivations, and computational results in [12] Although ant system was useful for discovering good or optimal solutions for small TSPs (up to 30 cities) the time required to find such results made it ....

P. P. Grassé, "La reconstruction du nid et les coordinations inter-individuelles chez Bellicositermes natalensis et Cubitermes sp. La théorie de la stigmergie: Essai d'interprétation des termites constructeurs," Insect Sociaux, vol. 6, pp. 41--83, 1959.

No context found.

P.P. Grass. La Reconstruction du nid et les Coordinations InterIndividuelles chez Beellicositermes Natalensis et Cubitermes sp. La Thorie de la Stigmergie : Essai d'interprtation du Comportement des Termites Constructeurs in Insect. Soc. 6. Morgan Kaufmann, 1959.

No context found.

P.P. Grass. La Reconstruction du nid et les Coordinations InterIndividuelles chez Beellicositermes Natalensis et Cubitermes sp. La Thorie de la Stigmergie : Essai d'interprtation du Comportement des Termites Constructeurs in Insect. Soc. 6. Morgan Kaufmann, 1959.

No context found.

P. P. Grass (1959), "La reconstruction du nid et les coordinations inter-individuelles chez Bellicositermes natalensis et Cubitermes sp. La thorie de la stigmergie: Essai d'interprtation des termites constructeurs", Insect Sociaux, vol. 6, pp. 41--83

No context found.

P. Grass. La reconstruction du nid et les coordinations inter-individuelles chez bellicositermes natalensis et cubitermes sp . la thorie de la stigmergie: Essai d'interprtation des termites constructeurs, 1959.

No context found.

P.-P. Grass. La Reconstruction du nid et les Coordinations Inter-Individuelles chez Bellicositermes Natalensis et Cubitermes sp. La thorie de la Stigmergie: Essai d'interprtation du Comportement des Termites Constructeurs. Insectes Sociaux, 6:41-84, 1959.

No context found.

P.-P. Grass. La Reconstruction du nid et les Coordinations Inter-Individuelles chez Bellicositermes Natalensis et Cubitermes sp. La thorie de la Stigmergie: Essai d'interprtation du Comportement des Termites Constructeurs. Insectes Sociaux, 6:41-84, 1959.

No context found.

Grass, P.P. (1959) La reconstruction du nid et les coordinations interindividuelles chez Bellicositermes natalensis et Cubitermes sp. La theorie de la stigmergie: Essai d'interpretation des termites constructeurs. Ins. Soc., 6, 41-83

No context found.

Grass, P.P. (1959) La reconstruction du nid et les coordinations interindividuelles chez Bellicositermes natalensis et Cubitermes sp. La theorie de la stigmergie: Essai d'interpretation des termites constructeurs. Ins. Soc., 6, 41-83

No context found.

P. P. Grass, La reconstruction du nid et les coordinations inter-individuelles chez Bellicoitermes natalenis et Cubitermes sp. La theorie de la stigmergie: Essai d'interpretation des termites constructeurs. In Insect Societies, Vol. 6, pp. 41-83, 1959.

No context found.

Grassé P.P., La reconstruction du nid et les coordinations inter-individuelles chez Bellicoitermes natalenis et Cubitermes sp. La theorie de la stigmergie: Essai d'interpretation des termites constructeurs. In Insect Societies, Vol. 6, pp. 41-83.

No context found.

Grassé P.P. (1959), La reconstruction du nid et les coordinations inter-individuelles chez Bellicoitermes natalenis et Cubitermes sp. La theorie de la stigmergie: Essai d'interpretation des termites constructeurs. In Insect Societies, Vol. 6, pp. 41-83.

No context found.

Grassé P.P. 1959. La reconstruction du nid et les coordinations inter-individuelles chez Bellicoitermes natalenis et Cubitermes sp. La theorie de la stigmergie: Essai d'interpretation des termites constructeurs. In Insect Societies, Vol. 6, pp. 41-83.

No context found.

Grassé P.P. (1959), La reconstruction du nid et les coordinations inter-individuelles chez Bellicoitermes natalenis et Cubitermes sp. La theorie de la stigmergie: Essai d'interpretation des termites constructeurs. In Insect Societies, Vol. 6, pp. 41-83.

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