Marco Dorigo Mauro Birattari Simon Garnier Heiko Hamann Marco Montes de Oca Christine Solnon Thomas Stützle (Eds.) 7 6 6 8 S Swarm Intelligence C N L 9th International Conference, ANTS 2014 Brussels, Belgium, September 10–12, 2014 Proceedings 123 Lecture Notes in Computer Science 8667 CommencedPublicationin1973 FoundingandFormerSeriesEditors: GerhardGoos,JurisHartmanis,andJanvanLeeuwen EditorialBoard DavidHutchison LancasterUniversity,UK TakeoKanade CarnegieMellonUniversity,Pittsburgh,PA,USA JosefKittler UniversityofSurrey,Guildford,UK JonM.Kleinberg CornellUniversity,Ithaca,NY,USA AlfredKobsa UniversityofCalifornia,Irvine,CA,USA FriedemannMattern ETHZurich,Switzerland JohnC.Mitchell StanfordUniversity,CA,USA MoniNaor WeizmannInstituteofScience,Rehovot,Israel OscarNierstrasz UniversityofBern,Switzerland C.PanduRangan IndianInstituteofTechnology,Madras,India BernhardSteffen TUDortmundUniversity,Germany DemetriTerzopoulos UniversityofCalifornia,LosAngeles,CA,USA DougTygar UniversityofCalifornia,Berkeley,CA,USA GerhardWeikum MaxPlanckInstituteforInformatics,Saarbruecken,Germany Marco Dorigo Mauro Birattari Simon Garnier Heiko Hamann Marco Montes de Oca Christine Solnon Thomas Stützle (Eds.) Swarm Intelligence 9th International Conference, ANTS 2014 Brussels, Belgium, September 10-12, 2014 Proceedings 1 3 VolumeEditors MarcoDorigo MauroBirattari ThomasStützle IRIDIA,CoDE,UniversitéLibredeBruxelles,Belgium E-mail:{mdorigo,mbiro,stuetzle}@ulb.ac.be SimonGarnier RutgersUniversity,NewJerseyInstituteofTechnology,Newark,NJ,USA E-mail:[email protected] HeikoHamann UniversityofPaderborn,DepartmentofComputerScience,Paderborn,Germany E-mail:[email protected] MarcoMontesdeOca UniversityofDelaware,DepartmentofMathematicalSciences,Newark,DE,USA E-mail:[email protected] ChristineSolnon LIRIS,INSAdeLyon,VilleurbanneCedex,France E-mail:[email protected] ISSN0302-9743 e-ISSN1611-3349 ISBN978-3-319-09951-4 e-ISBN978-3-319-09952-1 DOI10.1007/978-3-319-09952-1 SpringerChamHeidelbergNewYorkDordrechtLondon LibraryofCongressControlNumber:2014945573 LNCSSublibrary:SL1–TheoreticalComputerScienceandGeneralIssues ©SpringerInternationalPublishingSwitzerland2014 Thisworkissubjecttocopyright.AllrightsarereservedbythePublisher,whetherthewholeorpartof thematerialisconcerned,specificallytherightsoftranslation,reprinting,reuseofillustrations,recitation, broadcasting,reproductiononmicrofilmsorinanyotherphysicalway,andtransmissionorinformation storageandretrieval,electronicadaptation,computersoftware,orbysimilarordissimilarmethodology nowknownorhereafterdeveloped.Exemptedfromthislegalreservationarebriefexcerptsinconnection withreviewsorscholarlyanalysisormaterialsuppliedspecificallyforthepurposeofbeingenteredand executedonacomputersystem,forexclusiveusebythepurchaserofthework.Duplicationofthispublication orpartsthereofispermittedonlyundertheprovisionsoftheCopyrightLawofthePublisher’slocation, inistcurrentversion,andpermissionforusemustalwaysbeobtainedfromSpringer.Permissionsforuse maybeobtainedthroughRightsLinkattheCopyrightClearanceCenter.Violationsareliabletoprosecution undertherespectiveCopyrightLaw. Theuseofgeneraldescriptivenames,registerednames,trademarks,servicemarks,etc.inthispublication doesnotimply,evenintheabsenceofaspecificstatement,thatsuchnamesareexemptfromtherelevant protectivelawsandregulationsandthereforefreeforgeneraluse. Whiletheadviceandinformationinthisbookarebelievedtobetrueandaccurateatthedateofpublication, neithertheauthorsnortheeditorsnorthepublishercanacceptanylegalresponsibilityforanyerrorsor omissionsthatmaybemade.Thepublishermakesnowarranty,expressorimplied,withrespecttothe materialcontainedherein. Typesetting:Camera-readybyauthor,dataconversionbyScientificPublishingServices,Chennai,India Printedonacid-freepaper SpringerispartofSpringerScience+BusinessMedia(www.springer.com) Preface These proceedings contain the papers presented at ANTS 2014, the 9th Inter- nationalConference onSwarmIntelligence, heldatIRIDIA, Universit´eLibre de Bruxelles, Brussels, Belgium, during September 10–12, 2014. The ANTS series started in 1998 with the First International Workshop on Ant Colony Opti- mization (ANTS 1998), which attracted more than 50 participants. Since then ANTS, which is held bi-annually, has gradually become an international forum forresearchersinthewiderfieldofswarmintelligence.In2004,thisdevelopment wasacknowledgedbytheinclusionoftheterm“swarmintelligence”(nextto“ant colonyoptimization”)intheconferencetitle.Since2010,theANTSconferenceis officially devoted to the field of swarm intelligence as a whole, without any bias towardspecificresearchdirections.Thisisreflectedinthetitleoftheconference: “International Conference on Swarm Intelligence.” The papers contained in this volume were selected out of 55 submissions. Of these, 17 were accepted as full-length papers, while nine were accepted as short papers. This corresponds to an overall acceptance rate of 47%. Also included in this volume are seven extended abstracts. All the contributions were presented as posters. The full-length papers were also presented orally in a plenary session. Extended versions of the best papers presented at the conference will be published in a special issue of the Swarm Intelligence journal. We take this opportunity to thank the large number of people that were involved in making this conference a success. We express our gratitude to the authors who contributed their work, to the members of the International Pro- gram Committee, to the additional reviewers for their qualified and detailed reviews, and to the staff of IRIDIA for helping with organizationalmatters. Wehopethereaderwillfindthisvolumeusefulbothasareferencetocurrent researchin swarm intelligence and as a starting point for future work. July 2014 Marco Dorigo Mauro Birattari Simon Garnier Heiko Hamann Marco Montes de Oca Christine Solnon Thomas Stu¨tzle Organization ANTS 2014 was organized by IRIDIA, Universit´e Libre de Bruxelles, Belgium General Chair Marco Dorigo Universit´e Libre de Bruxelles, Belgium Technical Program Chairs Simon Garnier Rutgers University, USA Marco A. Montes de Oca University of Delaware, USA Christine Solnon Institut National des Sciences Appliqu´ees de Lyon, France Publication Chair Heiko Hamann University of Paderborn, Germany Organization Chairs Mauro Birattari Universit´e Libre de Bruxelles, Belgium Thomas Stu¨tzle Universit´e Libre de Bruxelles, Belgium Local Arrangements Manuele Brambilla Universit´e Libre de Bruxelles, Belgium Lorenzo Garattoni Universit´e Libre de Bruxelles, Belgium Andreagiovanni Reina Universit´e Libre de Bruxelles, Belgium Program Committee Andy Adamatzky University of the West of England, UK Daniel Angus University of Queensland, Australia Jacob Beal BBN Technologies, USA Tim Blackwell Goldsmiths University of London, UK Maria Jos´e Blesa Aguilera Universitat Polit`ecnica de Catalunya, Spain Christian Blum University of the Basque Country, Spain Leticia Cagnina Universidad Nacional de San Luis, Argentina Alexandre Campo Universit´e Libre de Bruxelles, Belgium Stephen Y. Chen York University, Canada VIII Organization Marco Chiarandini University of Southern Denmark, Denmark Carlos Coello Coello CINVESTAV-IPN, Mexico Oscar Cordon European Centre for Soft Computing, Spain Maurice Clerc Independent Consultant, France Ana Luisa Custodio Universidade Nova de Lisboa, Portugal Sanjoy Das Kansas State University, USA Kusum Deep Indian Institute of Technology Roorkee, India Jean-Louis Deneubourg Universit´e Libre de Bruxelles, Belgium Gianni Di Caro IDSIA, USI-SUPSI, Switzerland Luca Di Gaspero University of Udine, Italy Karl Doerner Johannes Kepler Universit¨at Linz, Austria Leandro Dos Santos Coelho Pontifical Catholic University of Parana and Federal University of Parana, Brazil Haibin Duan Beihang University, China Mohammed El-Abd American University of Kuwait, Kuwait Andries Engelbrecht University of Pretoria, South Africa Hugo J. Escalante Instituto Nacional de Astrofisica, Optica y Electronica (INAOE), Mexico Susana Esquivel Universidad Nacional de San Luis, Argentina Gianni Fasano Ca’ Foscari University, Italy Namiz Fat`es Loria - Inria, France Juan L. Fernandez-Martinez Universidad de Oviedo, Spain Eliseo Ferrante University of Leuven, Belgium Luca Maria Gambardella IDSIA, USI-SUPSI, Switzerland Jose M. Garcia-Nieto Universidad de Malaga, Spain Deborah Gordon Stanford University, USA Roderich Groß The University of Sheffield, UK Fr´ed´eric Guinand Universit´e du Havre, France Walter Gutjahr Universit¨at Wien, Austria Saman Halgamuge University of Melbourne, Australia Julia Handl University of Manchester, UK Richard Hartl Universit¨at Wien, Austria Thomas Jansen Aberystwyth University, UK Mark Jelasity University of Szeged, Hungary Yaochu Jin University of Surrey, UK Joshua Knowles University of Manchester, UK Xiaodong Li RMIT University, Australia Manuel Lo´pez-Iba´n˜ez IRIDIA,Universit´eLibredeBruxelles,Belgium Simone Ludwig North Dakota State University, USA Stephen Majercik Bowdoin College, USA Vittorio Maniezzo Universit`a di Bologna, Italy Franco Mascia IRIDIA,Universit´eLibredeBruxelles,Belgium Ronaldo Menezes Florida Institute of Technology, USA Bernd Meyer Monash University, Australia Martin Middendorf Universit¨at Leipzig, Germany Nicolas Monmarch´e Universit´e de Tours, France Organization IX Roberto Montemanni IDSIA, USI-SUPSI, Switzerland Radhika Nagpal Harvard University, USA Frank Neumann The University of Adelaide, Australia Ann Now´e Vrije Universiteit Brussel, Belgium Randal Olson Michigan State University, USA Ender O¨zcan University of Nottingham, UK Kostantinos Parsopoulos University of Ioannina, Greece Paola Pellegrini French Institute of Science and Technology for Transport, Development and Networks, France Jorge Pen˜a MaxPlanckInstitute forEvolutionaryBiology, Germany Marc Reimann University of Graz, Austria Katya Rodr´ıguez-V´azquez IIMAS-UNAM, Mexico Andrea Roli Universita` di Bologna, Italy Michael Rubenstein Harvard University, USA Erol Sahin Middle East Technical University, Turkey Thomas Schmickl Karl-Franzens-Universit¨atGraz, Austria Kevin Seppi Brigham Young University, USA Jurij Silc Jozef Stefan Institute, Ljubljana, Slovenia Dirk Sudholt The University of Sheffield, UK Jon Timmis University of York, UK Colin Torney University of Exeter, UK Vito Trianni Institute of Cognitive Sciences and Technologies, CNR, Italy Elio Tuci Aberystwyth University, UK Kolbjørn Tunstrøm Princeton Univerisity, USA Michael N. Vrahatis University of Patras, Greece Ling Wang Tsinghua University, China Tom Wenseleers University of Leuven, Belgium Alan Winfield University of the West of England, UK Yanjun Yan Western Carolina University, USA Additional Reviewers Eduardo Feo Flushing IDSIA, USI-SUPSI, Switzerland Gianpiero Francesca IRIDIA,Universit´eLibredeBruxelles,Belgium Jawad Nagi IDSIA, USI-SUPSI, Switzerland Andreagiovanni Reina Universit´e Libre de Bruxelles, Belgium Touraj Soleymani IRIDIA,Universit´eLibredeBruxelles,Belgium Table of Contents A Novel Ant Colony Algorithm for Building Neural Network Topologies ...................................................... 1 Khalid Salama and Ashraf M. Abdelbar An ACO Algorithm to Solve an Extended Cutting Stock Problem for Scrap Minimization in a Bar Mill .................................. 13 Diego D´ıaz, Pablo Valledor, Paula Areces, Jorge Rodil, and Montserrat Su´arez An Experiment in Automatic Design of Robot Swarms: AutoMoDe-Vanilla,EvoStick,and Human Experts ................. 25 Gianpiero Francesca, Manuele Brambilla, Arne Brutschy, Lorenzo Garattoni, Roman Miletitch, Ga¨etan Podevijn, Andreagiovanni Reina, Touraj Soleymani, Mattia Salvaro, Carlo Pinciroli, Vito Trianni, and Mauro Birattari Angle Modulated Particle Swarm Variants .......................... 38 Barend J. Leonard and Andries P. Engelbrecht Ant Colony Optimization on a Budget of 1000....................... 50 Leslie P´erez C´aceres, Manuel L´opez-Ib´an˜ez, and Thomas Stu¨tzle Application of Supervisory Control Theory to Swarms of e-puck and Kilobot Robots .................................................. 62 Yuri K. Lopes, Andr´e B. Leal, Tony J. Dodd, and Roderich Groß Can Frogs Find Large Independent Sets in a Decentralized Way? Yes They Can! ...................................................... 74 Christian Blum, Maria J. Blesa, and Borja Calvo Diversity Rate of Change Measurement for Particle Swarm Optimisers ...................................................... 86 Phlippie Bosman and Andries P. Engelbrecht Evolutionary Swarm Robotics: Genetic Diversity, Task-Allocation and Task-Switching .................................................. 98 Elio Tuci Influencing a Flock via Ad Hoc Teamwork .......................... 110 Katie Genter and Peter Stone MACOC: A Medoid-Based ACO Clustering Algorithm................ 122 H´ector D. Men´endez, Fernando E.B. Otero, and David Camacho Particle Swarm Convergence: Standardized Analysis and Topological Influence........................................................ 134 Christopher W. Cleghorn and Andries P. Engelbrecht XII Table of Contents Scheduling a Galvanizing Line by Ant Colony Optimization ........... 146 Silvino Fernandez, Segundo Alvarez, Diego D´ıaz, Miguel Iglesias, and Borja Ena SRoCS: Leveraging Stigmergy on a Multi-robot Construction Platform for Unknown Environments ....................................... 158 Michael Allwright, Navneet Bhalla, Haitham El-faham, Anthony Antoun, Carlo Pinciroli, and Marco Dorigo Swarm in a Fly Bottle: Feedback-Based Analysis of Self-organizing Temporary Lock-ins.............................................. 170 Heiko Hamann and Gabriele Valentini Temporal Task Allocation in Periodic Environments: An Approach Based on Synchronization......................................... 182 Manuel Castillo-Cagigal, Arne Brutschy, Alvaro Guti´errez, and Mauro Birattari Towards a Cognitive Design Pattern for Collective Decision-Making .... 194 Andreagiovanni Reina, Marco Dorigo, and Vito Trianni Short Papers A Novel Competitive Quantum-Behaviour Evolutionary Multi-Swarm Optimizer Algorithm Based on CUDA Architecture Applied to Constrained Engineering Design ................................... 206 Daniel Leal Souza, Ot´avio Noura Teixeira, Dionne Cavalcante Monteiro, Roberto C´elio Lima˜o de Oliveira, and Marco Antˆonio Florenzano Mollinetti Cooperative Object Recognition: Behaviours of a Artificially Evolved Swarm.......................................................... 214 David King and Philip Breedon Emergent Diagnoses from a Collective of Radiologists: Algorithmic versus Social Consensus Strategies ................................. 222 Daniel W. Palmer, David W. Piraino, Nancy A. Obuchowski, and Jennifer A. Bullen Foraging Agent Swarm Optimization with Applications in Data Clustering ...................................................... 230 Kevin M. Barresi GPU Implementation of Food-Foraging Problem for Evolutionary Swarm Robotics Systems.......................................... 238 Kazuhiro Ohkura, Toshiyuki Yasuda, Yoshiyuki Matsumura, and Masaki Kadota