arXiv subjects

Guy Theraulaz

Publications and source records attributed to Guy Theraulaz.

At least 19 recordsLinked to original sources

arXiv2026

Flocking phase transition and threat responses in bio-inspired autonomous drone swarms

Collective motion inspired by animal groups offers powerful design principles for autonomous aerial swarms. We present a bio-inspired 3D flocking algorithm in which each drone interacts only with a minimal set of influential neighbors, relying solely on local alignment and attraction cues. By systematically tuning these two interaction gains, we map a phase diagram revealing sharp transitions between swarming and schooling, as well as a critical region where susceptibility, polarization fluctuations, and reorganization capacity peak. Outdoor experiments with a swarm of ten drones, combined with simulations using a calibrated flight-dynamics model, show that operating near this transition enhances responsiveness to external disturbances. When confronted with an intruder, the swarm performs rapid collective turns, transient expansions, and reliably recovers high alignment within seconds. These results demonstrate that minimal local-interaction rules are sufficient to generate multiple collective phases and that simple gain modulation offers an efficient mechanism to adjust stability, flexibility, and resilience in drone swarms.

cs.RO↗

arXiv2024

Climate control in termite mounds: A review and new insights from X-ray tomography and flow field simulations

Investigating the thermoregulation and ventilation processes in termite mound holds great interest, in particular for its potential implications in advancing eco-friendly building designs. In this article we discuss major results on these processes in termite mounds of varying sizes and ventilation types. Additionally, we propose the integration of X-ray tomography to gain insights into the contribution of architectural features of termite mounds to thermoregulation and ventilation. Finally, we assess the contributions of numerical flow field simulations to this research domain. Our objective is to consolidate existing knowledge, identify research gaps, and propose an interdisciplinary approach to foster our understanding of temperature regulation and gas exchange in termite mounds.

physics.geo-ph↗

arXiv2024

Quantifying the biomimicry gap in biohybrid robot-fish pairs

Biohybrid systems in which robotic lures interact with animals have become compelling tools for probing and identifying the mechanisms underlying collective animal behavior. One key challenge lies in the transfer of social interaction models from simulations to reality, using robotics to validate the modeling hypotheses. This challenge arises in bridging what we term the "biomimicry gap", which is caused by imperfect robotic replicas, communication cues and physics constraints not incorporated in the simulations, that may elicit unrealistic behavioral responses in animals. In this work, we used a biomimetic lure of a rummy-nose tetra fish (Hemigrammus rhodostomus) and a neural network (NN) model for generating biomimetic social interactions. Through experiments with a biohybrid pair comprising a fish and the robotic lure, a pair of real fish, and simulations of pairs of fish, we demonstrate that our biohybrid system generates social interactions mirroring those of genuine fish pairs. Our analyses highlight that: 1) the lure and NN maintain minimal deviation in real-world interactions compared to simulations and fish-only experiments, 2) our NN controls the robot efficiently in real-time, and 3) a comprehensive validation is crucial to bridge the biomimicry gap, ensuring realistic biohybrid systems.

cs.RO↗

arXiv2024

Predicting the long-term collective behaviour of fish pairs with deep learning

Modern computing has enhanced our understanding of how social interactions shape collective behaviour in animal societies. Although analytical models dominate in studying collective behaviour, this study introduces a deep learning model to assess social interactions in the fish species Hemigrammus rhodostomus. We compare the results of our deep learning approach to experiments and to the results of a state-of-the-art analytical model. To that end, we propose a systematic methodology to assess the faithfulness of a collective motion model, exploiting a set of stringent individual and collective spatio-temporal observables. We demonstrate that machine learning models of social interactions can directly compete with their analytical counterparts in reproducing subtle experimental observables. Moreover, this work emphasises the need for consistent validation across different timescales, and identifies key design aspects that enable our deep learning approach to capture both short- and long-term dynamics. We also show that our approach can be extended to larger groups without any retraining, and to other fish species, while retaining the same architecture of the deep learning network. Finally, we discuss the added value of machine learning in the context of the study of collective motion in animal groups and its potential as a complementary approach to analytical models.

cs.LG↗

arXiv2023

Data-driven discovery of stochastic dynamical equations of collective motion

Coarse-grained descriptions of collective motion of flocking systems are often derived for the macroscopic or the thermodynamic limit. However, many real flocks are small sized (10 to 100 individuals), called the mesoscopic scales, where stochasticity arising from the finite flock sizes is important. Developing mesoscopic scale equations, typically in the form of stochastic differential equations, can be challenging even for the simplest of the collective motion models. Here, we take a novel data-driven equation learning approach to construct the stochastic mesoscopic descriptions of a simple self-propelled particle (SPP) model of collective motion. In our SPP model, a focal individual can interact with k randomly chosen neighbours within an interaction radius. We consider k = 1 (called stochastic pairwise interactions), k = 2 (stochastic ternary interactions), and k equalling all available neighbours within the interaction radius (equivalent to Vicsek-like local averaging). The data-driven mesoscopic equations reveal that the stochastic pairwise interaction model produces a novel form of collective motion driven by a multiplicative noise term (hence termed, noise-induced flocking). In contrast, for higher order interactions (k > 1), including Vicsek-like averaging interactions, yield collective motion driven primarily by the deterministic forces. We find that the relation between the parameters of the mesoscopic equations describing the dynamics and the population size are sensitive to the density and to the interaction radius, exhibiting deviations from mean-field theoretical expectations. We provide semi-analytic arguments potentially explaining these observed deviations. In summary, our study emphasizes the importance of mesoscopic descriptions of flocking systems and demonstrates the potential of the data-driven equation discovery methods for complex systems studies.

q-bio.QM↗

arXiv2020

The impact of incorrect social information on collective wisdom in human groups

A major problem that resulted from the massive use of social media networks is the diffusion of incorrect information. However, very few studies have investigated the impact of incorrect information on individual and collective decisions. We performed experiments in which participants had to estimate a series of quantities before and after receiving social information. Unbeknownst to them, we controlled the degree of inaccuracy of the social information through "virtual influencers", who provided some incorrect information. We find that a large proportion of individuals only partially follow the social information, thus resisting incorrect information. Moreover, we find that incorrect social information can help a group perform better when it overestimates the true value, by partly compensating a human underestimation bias. Overall, our results suggest that incorrect information does not necessarily impair the collective wisdom of groups, and can even be used to dampen the negative effects of known cognitive biases.

physics.soc-ph↗

arXiv2019

Collective Information Processing in Human Phase Separation

Social media filters combined with recommender systems can lead to the emergence of filter bubbles and polarized groups. In addition, segregation processes of human groups in certain social contexts have been shown to share some similarities with phase separation phenomena in physics. Here, we study the impact of information filtering on collective segregation behavior. We report a series of experiments where groups of 22 subjects have to perform a collective segregation task that mimics the tendency of individuals to bond with other similar individuals. More precisely, the participants are each assigned a color (red or blue) unknown to them, and have to regroup with other subjects sharing the same color. To assist them, they are equipped with an artificial sensory device capable of detecting the majority color in their ``environment'' (defined as their $k$ nearest neighbors, unbeknownst to them), for which we control the perception range, $k=1,3,5,7,9,11,13$. We study the separation dynamics (emergence of unicolor groups) and the properties of the final state, and show that the value of $k$ controls the quality of the segregation, although the subjects are totally unaware of the precise definition of the ``environment''. We also find that there is a perception range $k=7$ above which the ability of the group to segregate does not improve. We introduce a model that precisely describes the random motion of a group of pedestrians in a confined space, and which faithfully reproduces and allows to interpret the results of the segregation experiments. Finally, we discuss the strong and precise analogy between our experiment and the phase separation of two immiscible materials at very low temperature.

physics.soc-ph↗

arXiv2017

How social information can improve estimation accuracy in human groups

In our digital and connected societies, the development of social networks, online shopping, and reputation systems raises the question of how individuals use social information, and how it affects their decisions. We report experiments performed in France and Japan, in which subjects could update their estimates after having received information from other subjects. We measure and model the impact of this social information at individual and collective scales. We observe and justify that when individuals have little prior knowledge about a quantity, the distribution of the logarithm of their estimates is close to a Cauchy distribution. We find that social influence helps the group improve its properly defined collective accuracy. We quantify the improvement of the group estimation when additional controlled and reliable information is provided, unbeknownst to the subjects. We show that subjects' sensitivity to social influence permits to define five robust behavioral traits and increases with the difference between personal and group estimates. We then use our data to build and calibrate a model of collective estimation, to analyze the impact on the group performance of the quantity and quality of information received by individuals. The model quantitatively reproduces the distributions of estimates and the improvement of collective performance and accuracy observed in our experiments. Finally, our model predicts that providing a moderate amount of incorrect information to individuals can counterbalance the human cognitive bias to systematically underestimate quantities, and thereby improve collective performance.

physics.soc-ph↗

arXiv2017

Informative and misinformative interactions in a school of fish

It is generally accepted that, when moving in groups, animals process information to coordinate their motion. Recent studies have begun to apply rigorous methods based on Information Theory to quantify such distributed computation. Following this perspective, we use transfer entropy to quantify dynamic information flows locally in space and time across a school of fish during directional changes around a circular tank, i.e. U-turns. This analysis reveals peaks in information flows during collective U-turns and identifies two different flows: an informative flow (positive transfer entropy) based on fish that have already turned about fish that are turning, and a misinformative flow (negative transfer entropy) based on fish that have not turned yet about fish that are turning. We also reveal that the information flows are related to relative position and alignment between fish, and identify spatial patterns of information and misinformation cascades. This study offers several methodological contributions and we expect further application of these methodologies to reveal intricacies of self-organisation in other animal groups and active matter in general.

q-bio.QM↗

arXiv2017

Disentangling and modeling interactions in fish with burst-and-coast swimming

We combine extensive data analyses with a modeling approach to measure, disentangle, and reconstruct the actual functional form of interactions involved in the coordination of swimming in Rummy-nose tetra (Hemigrammus rhodostomus). This species of fish performs burst-and-coast swimming behavior that consists of sudden heading changes combined with brief accelerations followed by quasi-passive, straight decelerations. We quantify the spontaneous stochastic behavior of a fish and the interactions that govern wall avoidance and the attraction and alignment to a neighboring fish, the latter by exploiting general symmetry constraints for the interactions. In contrast with previous experimental works, we find that both attraction and alignment behaviors control the reaction of fish to a neighbor. We then exploit these results to build a model of spontaneous burst-and-coast swimming and interactions of fish, with all parameters being estimated or directly measured from experiments. This model quantitatively reproduces the key features of the motion and spatial distributions observed in experiments with a single fish and with two fish. This demonstrates the power of our method that exploits large amounts of data for disentangling and fully characterizing the interactions that govern collective behaviors in animals groups. Moreover, we introduce the notions of "dumb" and "intelligent" active matter and emphasize and clarify the strong differences between them.

physics.bio-ph↗

arXiv2015

Network-based model of the growth of termite nests

We present a model for the growth of the transportation network inside nests of the social insect subfamily Termitinae (Isoptera, termitidae). These nests consist of large chambers (nodes) connected by tunnels (edges). The model based on the empirical analysis of the real nest networks combined with pruning (edge removal, either random or weighted by betweenness centrality) and a memory effect (preferential growth from the latest added chambers) successfully predicts emergent nest properties (degree distribution, size of the largest connected component, average path lengths, backbone link ratios, and local graph redundancy). The two pruning alternatives can be associated with different genuses in the subfamily. A sensitivity analysis on the pruning and memory parameters indicates that Termitinae networks favor fast internal transportation over efficient defense strategies against ant predators. Our results provide an example of how complex network organization and efficient network properties can be generated from simple building rules based on local interactions and contribute to our understanding of the mechanisms that come into play for the formation of termite networks and of biological transportation networks in general.

q-bio.PE↗

arXiv2015

Dynamical models of task organization in social insect colonies

The organizations of insect societies, such as division of labor, task allocation, collective regulation, mass action responses, have been considered as main reasons for the ecological success. In this article, we propose and study a general modeling framework that includes the following three features: (a) the average internal response threshold for each task (the internal factor); (b) social network communications that could lead to task switching (the environmental factor); and (c) dynamical changes of task demands (the external factor). Since workers in many social insect species exhibit \emph{age polyethism}, we also extend our model to incorporate \emph{age polyethism} in which worker task preferences change with age. We apply our general modeling framework to the cases of two task groups: the inside colony task versus the outside colony task. Our analytical study of the models provides important insights and predictions on the effects of colony size, social communication, and age related task preferences on task allocation and division of labor in the adaptive dynamical environment. Our study implies that the smaller size colony invests its resource for the colony growth and allocates more workers in the risky tasks such as foraging while the larger colony shifts more workers to perform the safer tasks inside the colony. Social interactions among different task groups play an important role in shaping task allocation depending on the relative cost and demands of the tasks.

q-bio.PE↗

arXiv2015

Collective response to perturbations in a data-driven fish school model

Fish schools are able to display a rich variety of collective states and behavioural responses when they are confronted to threats. However a school's response to perturbations may be different depending on its collective state. Here we use a previously developed data-driven fish school model to investigate how a single or a small number of perturbing individuals affect the long-term behaviour of a school depending on its collective state. These perturbing fish are characterised by a set of attraction and alignment parameters different from those of the main population. We find that the responsiveness of the school to the perturbation is maximum near the transition region between milling and schooling states where the school exhibits multistability and regularly shifts between these two states. We also find that a significant school's response to a perturbation only happens below a certain threshold of the noise to social interactions ratio.

q-bio.QM↗

arXiv2013

Swarming, Schooling, Milling: Phase diagram of a data-driven fish school model

We determine the basic phase diagram of the fish school model derived from data by Gautrais etal (PLoS Comp. Biol. 8, e1002678 (2012)), exploring its parameter space beyond the parameter values determined experimentally on groups of barred flagtails (Kuhlia mugil}) swimming in a shallow tank. A modified model is studied alongside the original one, in which an additional frontal preference is introduced in the stimulus/response function to account for the angular weighting of interactions. Our study, mostly limited to groups of moderate size (in the order of 100 individuals), focused not only on the transition to schooling induced by increasing the swimming speed, but also on the conditions under which a school can exhibit milling dynamics and the corresponding behavioral transitions. We show the existence of a transition region between milling and schooling, in which the school exhibits multistability and intermittency between schooling and milling for the same combination of individuals parameters. We also show that milling does not occur for arbitrarily large groups, mainly due to a distance dependence interaction of the model and information propagation delays in the school, which cause conflicting reactions for large groups. We finally discuss the biological significance of our findings, especially the dependence of behavioural transitions on social interactions, which were reported by Gautrais etal to be adaptive in the experimental conditions.

q-bio.QM↗

arXiv2013

Vision-based macroscopic pedestrian models

We propose a hierarchy of kinetic and macroscopic models for a system consisting of a large number of interacting pedestrians. The basic interaction rules are derived from earlier work where the dangerousness level of an interaction with another pedestrian is measured in terms of the derivative of the bearing angle (angle between the walking direction and the line connecting the two subjects) and of the time-to-interaction (time before reaching the closest distance between the two subjects). A mean-field kinetic model is derived. Then, three different macroscopic continuum models are proposed. The first two ones rely on two different closure assumptions of the kinetic model, respectively based on a monokinetic and a von Mises-Fisher distribution. The third one is derived through a hydrodynamic limit. In each case, we discuss the relevance of the model for practical simulations of pedestrian crowds.

math-ph↗

arXiv2013

A hierarchy of heuristic-based models of crowd dynamics

We derive a hierarchy of kinetic and macroscopic models from a noisy variant of the heuristic behavioral Individual-Based Model of Moussaid et al, PNAS 2011, where the pedestrians are supposed to have constant speeds. This IBM supposes that the pedestrians seek the best compromise between navigation towards their target and collisions avoidance. We first propose a kinetic model for the probability distribution function of the pedestrians. Then, we derive fluid models and propose three different closure relations. The first two closures assume that the velocity distribution functions are either a Dirac delta or a von Mises-Fisher distribution respectively. The third closure results from a hydrodynamic limit associated to a Local Thermodynamical Equilibrium. We develop an analogy between this equilibrium and Nash equilibia in a game theoretic framework. In each case, we discuss the features of the models and their suitability for practical use.

math-ph↗

arXiv2012

Individual rules for trail pattern formation in Argentine ants (Linepithema humile)

We studied the formation of trail patterns by Argentine ants exploring an empty arena. Using a novel imaging and analysis technique we estimated pheromone concentrations at all spatial positions in the experimental arena and at different times. Then we derived the response function of individual ants to pheromone concentrations by looking at correlations between concentrations and changes in speed or direction of the ants. Ants were found to turn in response to local pheromone concentrations, while their speed was largely unaffected by these concentrations. Ants did not integrate pheromone concentrations over time, with the concentration of pheromone in a 1 cm radius in front of the ant determining the turning angle. The response to pheromone was found to follow a Weber's Law, such that the difference between quantities of pheromone on the two sides of the ant divided by their sum determines the magnitude of the turning angle. This proportional response is in apparent contradiction with the well-established non-linear choice function used in the literature to model the results of binary bridge experiments in ant colonies (Deneubourg et al. 1990). However, agent based simulations implementing the Weber's Law response function led to the formation of trails and reproduced results reported in the literature. We show analytically that a sigmoidal response, analogous to that in the classical Deneubourg model for collective decision making, can be derived from the individual Weber-type response to pheromone concentrations that we have established in our experiments when directional noise around the preferred direction of movement of the ants is assumed.

q-bio.OT↗

arXiv2012

Traffic Instabilities in Self-Organized Pedestrian Crowds

In human crowds as well as in many animal societies, local interactions among individuals often give rise to self-organized collective organizations that offer functional benefits to the group. For instance, flows of pedestrians moving in opposite directions spontaneously segregate into lanes of uniform walking directions. This phenomenon is often referred to as a smart collective pattern, as it increases the traffic efficiency with no need of external control. However, the functional benefits of this emergent organization have never been experimentally measured, and the underlying behavioral mechanisms are poorly understood. In this work, we have studied this phenomenon under controlled laboratory conditions. We found that the traffic segregation exhibits structural instabilities characterized by the alternation of organized and disorganized states, where the lifetime of well-organized clusters of pedestrians follow a stretched exponential relaxation process. Further analysis show that the inter-pedestrian variability of comfortable walking speeds is a key variable at the origin of the observed traffic perturbations. We show that the collective benefit of the emerging pattern is maximized when all pedestrians walk at the average speed of the group. In practice, however, local interactions between slow- and fast-walking pedestrians trigger global breakdowns of organization, which reduce the collective and the individual payoff provided by the traffic segregation. This work is a step ahead toward the understanding of traffic self-organization in crowds, which turns out to be modulated by complex behavioral mechanisms that do not always maximize the group's benefits. The quantitative understanding of crowd behaviors opens the way for designing bottom-up management strategies bound to promote the emergence of efficient collective behaviors in crowds.

physics.soc-ph↗