Inspired by the swarming or flocking of animal systems we study groups of agents moving in unbounded 2D space. Individual trajectories derive from a ``bottom-up'' principle: individuals reorient to maximise their future path entropy over environmental states. This can be seen as a proxy for keeping options open, a principle that may confer evolutionary fitness in an uncertain world. We find an ordered (co-aligned) state naturally emerges, as well as disordered states or rotating clusters; similar phenotypes are observed in birds, insects and fish, respectively. The ordered state exhibits an order-disorder transition under two forms of noise: (i) standard additive orientational noise, applied to the post-decision orientations (ii) ``cognitive'' noise, overlaid onto each individual's model of the future paths of other agents. Unusually, the order increases at low noise, before later decreasing through the order-disorder transition as the noise increases further.
翻译:受动物系统群集或聚集行为的启发,我们研究了在无界二维空间内移动的代理团体。每个个体的轨迹源自于“自下而上”的原则:个体重新定向以最大化环境状态下的未来路径熵。这可以看作是保持选项的一种代理,这个原则在不确定的世界中可能带来进化适应度。我们发现,一个有序的(共线)状态自然地出现,以及无序状态或旋转聚簇;这些类似于鸟类、昆虫和鱼类的表现形式。在两种形式的噪声下,有序状态会出现有序-无序转变:(i)标准的加性方向噪声,应用于决策后的方向,和(ii)“认知”噪声,叠加在每个个体对其他代理未来路径的模型上。不寻常的是,在低噪声下,有序性增加;随着噪声的进一步增加,有序性通过有序-无序转变后下降。