Marco Dorigo · Mauro Birattari Xiaodong Li · Manuel López-Ibáñez Kazuhiro Ohkura · Carlo Pinciroli Thomas Stützle (Eds.) 2 8 8 9 S Swarm Intelligence C N L 10th International Conference, ANTS 2016 Brussels, Belgium, September 7–9, 2016 Proceedings 123 Lecture Notes in Computer Science 9882 Commenced Publication in 1973 Founding and Former Series Editors: Gerhard Goos, Juris Hartmanis, and Jan van Leeuwen Editorial Board David Hutchison Lancaster University, Lancaster, UK Takeo Kanade Carnegie Mellon University, Pittsburgh, PA, USA Josef Kittler University of Surrey, Guildford, UK Jon M. Kleinberg Cornell University, Ithaca, NY, USA Friedemann Mattern ETH Zurich, Zürich, Switzerland John C. Mitchell Stanford University, Stanford, CA, USA Moni Naor Weizmann Institute of Science, Rehovot, Israel C. Pandu Rangan Indian Institute of Technology, Madras, India Bernhard Steffen TU Dortmund University, Dortmund, Germany Demetri Terzopoulos University of California, Los Angeles, CA, USA Doug Tygar University of California, Berkeley, CA, USA Gerhard Weikum Max Planck Institute for Informatics, Saarbrücken, Germany More information about this series at http://www.springer.com/series/7407 Marco Dorigo Mauro Birattari (cid:129) ó áñ Xiaodong Li Manuel L pez-Ib ez (cid:129) Kazuhiro Ohkura Carlo Pinciroli (cid:129) ü Thomas St tzle (Eds.) Swarm Intelligence 10th International Conference, ANTS 2016 – Brussels, Belgium, September 7 9, 2016 Proceedings 123 Editors MarcoDorigo Kazuhiro Ohkura UniversitéLibre deBruxelles Hiroshima University Brussels Hiroshima Belgium Japan MauroBirattari CarloPinciroli UniversitéLibre deBruxelles ÉcolePolytechnique deMontréal Brussels Montréal,QC Belgium Canada Xiaodong Li ThomasStützle RMIT University UniversitéLibre deBruxelles Melbourne, VIC Brussels Australia Belgium Manuel López-Ibáñez University of Manchester Manchester UK ISSN 0302-9743 ISSN 1611-3349 (electronic) Lecture Notesin Computer Science ISBN 978-3-319-44426-0 ISBN978-3-319-44427-7 (eBook) DOI 10.1007/978-3-319-44427-7 LibraryofCongressControlNumber:2016947393 LNCSSublibrary:SL1–TheoreticalComputerScienceandGeneralIssues ©SpringerInternationalPublishingSwitzerland2016 Thisworkissubjecttocopyright.AllrightsarereservedbythePublisher,whetherthewholeorpartofthe material is concerned, specifically the rights of translation, reprinting, reuse of illustrations, recitation, broadcasting, reproduction on microfilms or in any other physical way, and transmission or information storageandretrieval,electronicadaptation,computersoftware,orbysimilarordissimilarmethodologynow knownorhereafterdeveloped. Theuseofgeneraldescriptivenames,registerednames,trademarks,servicemarks,etc.inthispublication doesnotimply,evenintheabsenceofaspecificstatement,thatsuchnamesareexemptfromtherelevant protectivelawsandregulationsandthereforefreeforgeneraluse. Thepublisher,theauthorsandtheeditorsaresafetoassumethattheadviceandinformationinthisbookare believedtobetrueandaccurateatthedateofpublication.Neitherthepublishernortheauthorsortheeditors give a warranty, express or implied, with respect to the material contained herein or for any errors or omissionsthatmayhavebeenmade. Printedonacid-freepaper ThisSpringerimprintispublishedbySpringerNature TheregisteredcompanyisSpringerInternationalPublishingAGSwitzerland Preface These proceedings contain the papers presented at ANTS 2016, the 10th International Conference on Swarm Intelligence, held at IRIDIA, Université Libre de Bruxelles, Brussels,Belgium,duringSeptember7–9,2016.TheANTSseriesstartedin1998with the First International Workshop on Ant Colony Optimization (ANTS 1998). Since thenANTS,whichisheldbi-annually,hasgraduallybecomeaninternationalforumfor researchers in the wider field of swarm intelligence. In 2004, this development was acknowledgedbytheinclusionoftheterm“SwarmIntelligence”(nextto“AntColony Optimization”) in the conference title. Since 2010, the ANTS conference has been officiallydevotedtothefieldofswarmintelligenceasawhole,withoutanybiastoward specific research directions. This is reflected in the title of the conference: “Interna- tional Conference on Swarm Intelligence.” This volume contains the best papers selected out of 47 submissions. Of these, 18 were accepted as full-length papers, while seven were accepted as short papers. This corresponds to an overall acceptance rate of 53%. Also included in this volume are eight extended abstracts. All the contributions were presented as posters. The full-length papers were also presentedorallyinaplenarysession.Extendedversionsofthebestpaperspresentedat the conference will be published in a special issue of the Swarm Intelligence journal. Wetakethisopportunitytothankthelargenumberofpeoplethatwereinvolvedin making this conference a success. We express our gratitude to the authors who con- tributed their work, to the members of the international Program Committee, to the additionalrefereesfortheirqualifiedanddetailedreviews,andtothestaffatIRIDIAfor helping with organizational matters. We hope the reader will find this volume useful both as a reference to current research in swarm intelligence and as a starting point for future work. July 2016 Marco Dorigo Mauro Birattari Xiaodong Li Manuel López-Ibáñez Kazuhiro Ohkura Carlo Pinciroli Thomas Stützle Organization General Chair Marco Dorigo Université Libre de Bruxelles, Belgium Co-chairs Mauro Birattari Université Libre de Bruxelles, Belgium Thomas Stützle Université Libre de Bruxelles, Belgium Technical Chairs Xiaodong Li RMIT University, Australia Manuel López-Ibáñez University of Manchester, UK Kazuhiro Ohkura Hiroshima University, Japan Publication Chair Carlo Pinciroli École Polytechnique de Montréal, Canada Liaison Chair for Africa Andries Engelbrecht University of Pretoria, South Africa Liaison Chair for Asia Fumitoshi Matsuno Kyoto University, Japan Liaison Chair for North America Magnus Egerstedt Georgia Institute of Technology, USA Program Committee Afnizanfaizal Abdullah Universiti Teknologi Malaysia, Malaysia Andrea Perna Université Libre de Bruxelles, Belgium Andy Adamatzky University of the West of England, UK Ann Nowe Vrije Universiteit Brussel, Belgium Daniel Angus The University of Queensland, Australia Prasanna Balaprakash Argonne National Laboratory, USA Jacob Beal BBN Technologies, USA VIII Organization Giovanni Beltrame École Polytechnique de Montréal, Canada Gerardo Beni University of California, USA Spring Berman Arizona State University, USA Tim Blackwell Goldsmiths, University of London, UK Maria J. Blesa Universitat Politècnica de Catalunya, Spain Christian Blum University of the Basque Country, Spain Mohammad Reza Bonyadi The University of Adelaide, Australia Alexandre Campo Université Libre de Bruxelles, Belgium Stephen Chen York University, Canada Ran Cheng University of Surrey, UK Marco Chiarandini University of Southern Denmark, Denmark Anders Lyhne Christensen Lisbon University Institute, Portugal Maurice Clerc Independent Consultant on Optimisation Carlos Coello Coello CINVESTAV-IPN, Mexico Oscar Cordon University of Granada, Spain Nikolaus Correll University of Colorado at Boulder, USA Ana Luisa Custodio Universidade Nova de Lisboa, Portugal Swagatam Das Indian Statistical Institute, India Gianni Di Caro Istituto Dalle Molle di Studi sull’Intelligenza Artificiale, Switzerland Luca Di Gaspero Università di Udine, Italy Karl Doerner Johannes Kepler University Linz, Austria Haibin Duan Beihang University, China Mohammed El-Abd American University of Kuwait, Kuwait Andries Engelbrecht University of Pretoria, South Africa Hugo Jair Escalante Instituto Nacional de Astrofísica, Óptica y Electrónica, Mexico Susana Esquivel Universidad Nacional de San Luis, Argentina Nazim Fates Laboratoire Lorraine de Recherche en Informatique et Ses Applications, France Eliseo Ferrante Katholieke Universiteit Leuven, Belgium Ryusuke Fujisawa Hachinohe Institute of Technology, Japan Luca Gambardella Istituto Dalle Molle di Studi sull’Intelligenza Artificiale, Switzerland José García-Nieto University of Málaga, Spain Roderich Groß The University of Sheffield, UK Frédéric Guinand Université du Havre, France Walter Gutjahr University of Vienna, Austria Julia Handl Manchester Business School, UK Kiyohiko Hattori National Institute of Information and Communications Technology, Japan Tim Hendtlass Swinburne University of Technology, Australia Michael Hsiao Virginia Tech, USA Thomas Jansen Aberystwyth University, UK Mark Jelasity University of Szeged, Hungary Guillermo Leguizamón Universidad Nacional de San Luis, Argentina Organization IX Simone Ludwig North Dakota State University, USA Stephen Majercik Bowdoin College, USA Vittorio Maniezzo Università di Bologna, Italy Antonio David Masegosa University of Granada, Spain Arredondo Massimo Mastrangeli Max Planck Institut for Intelligent Systems, Germany Michalis Mavrovouniotis De Montfort University, UK Yi Mei Victoria University of Wellington, New Zealand Ronaldo Menezes Florida Institute of Technology, USA Bernd Meyer University of Hamburg, Germany Martin Middendorf University of Leipzig, Germany Seyedali Mirjalili Griffith University, Australia Roberto Montemanni Istituto Dalle Molle di Studi sull’Intelligenza Artificiale, Switzerland Melanie Moses University of New Mexico, USA Frank Neumann The University of Adelaide, Australia Randal Olson Michigan State University, USA Koichi Osuka Osaka University, Japan Ender Ozcan University of Nottingham, UK Konstantinos Parsopoulos University of Ioannina, Greece Paola Pellegrini Institut Français des Sciences et Technologies des Transports, de l’Aménagement et des Réseaux, France Jorge Peña Max Planck Institute for Evolutionary Biology, Germany Günther Raidl Vienna University of Technology, Austria Andrea Roli Università di Bologna, Italy Mike Rubenstein Harvard University, USA Erol Sahin Middle East Technical University, Turkey Thomas Schmickl University of Graz, Austria Kevin Seppi Brigham Young University, USA Jurij Šilc Jožef Stefan Institute, Slovenia Christine Solnon LIRIS, Centre National de la Recherche Scientifique, France Dirk Sudholt University of Sheffield, UK Jon Timmis University of York, UK Colin Torney University of Exeter, UK Vito Trianni ISTC, Centro Nazionale delle Ricerche, Italy Elio Tuci Aberystwyth University, UK Richard Vaughan Simon Fraser University, Canada Michael Vrahatis University of Patras, Greece Justin Werfel Harvard University, USA Alan Winfield University of the West of England, UK Masahito Yamamoto Hokkaido University, Japan Yanjun Yan Western Carolina University, USA Contents Full Papers A Bearing-Only Pattern Formation Algorithm for Swarm Robotics . . . . . . . . 3 Nicholi Shiell and Andrew Vardy A Macroscopic Privacy Model for Heterogeneous Robot Swarms . . . . . . . . . 15 Amanda Prorok and Vijay Kumar A New Continuous Model for Segregation Implemented and Analyzed on Swarm Robots. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28 Benjamin Reh, Felix Aller, and Katja Mombaur A Study of Archiving Strategies in Multi-objective PSO for Molecular Docking. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40 JoséGarcía-Nieto,EstebanLópez-Camacho,MaríaJesúsGarcíaGodoy, Antonio J. Nebro, Juan J. Durillo, and José F. Aldana-Montes Ant Colony Optimisation-Based Classification Using Two-Dimensional Polygons. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53 Morten Goodwin and Anis Yazidi Collective Perception of Environmental Features in a Robot Swarm . . . . . . . 65 Gabriele Valentini, Davide Brambilla, Heiko Hamann, and Marco Dorigo Communication Diversity in Particle Swarm Optimizers. . . . . . . . . . . . . . . . 77 Marcos Oliveira, Diego Pinheiro, Bruno Andrade, Carmelo Bastos-Filho, and Ronaldo Menezes Continuous Time Gathering of Agents with Limited Visibility and Bearing-only Sensing. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89 Levi Itzhak Bellaiche and Alfred Bruckstein Design and Analysis of Proximate Mechanisms for Cooperative Transport in Real Robots . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101 Muhanad H. Mohammed Alkilabi, Aparajit Narayan, and Elio Tuci Dynamic Task Partitioning for Foraging Robot Swarms. . . . . . . . . . . . . . . . 113 Edgar Buchanan, Andrew Pomfret, and Jon Timmis Human-Robot Swarm Interaction with Limited Situational Awareness. . . . . . 125 Gabriel Kapellmann-Zafra, Nicole Salomons, Andreas Kolling, and Roderich Groß