A self-organizing model for task allocation via frequent task quitting and random walks in the honeybee

Dynamics of Information Flow and Task Allocation of Social Insect Colonies: Impacts of Spatial Interactions and Task Switching

Models of social interaction dynamics have been powerful tools for understanding the efficiency of information spread and the robustness of task allocation in social insect colonies. How workers spatially distribute within the colony, or spatial heterogeneity degree (SHD), plays a vital role in contact dynamics, influencing information spread and task allocation. We used agent-based models to explore factors affecting spatial heterogeneity and information flow, including the number of task groups, variation in spatial arrangements, and levels of task switching, to study: (1) the impact of multiple task groups on SHD, contact dynamics, and information spread, and (2) the impact of task switching on SHD and contact dynamics. Both models show a strong linear relationship between the dynamics of SHD and contact dynamics, which exists for different initial conditions. The multiple-task-group model without task switching reveals the impacts of the number and spatial arrangements of task locations on information transmission. The task-switching model allows task-switching with a probability through contact between individuals. The model indicates that the task-switching mechanism enables a dynamical state of task-related spatial fidelity at the individual level. This spatial fidelity can assist the colony in redistributing their workforce, with consequent effects on the dynamics of spatial heterogeneity degree. The spatial fidelity of a task group is the proportion of workers who perform that task and have preferential walking styles toward their task location. Our analysis shows that the task switching rate between two tasks is an exponentially decreasing function of the spatial fidelity and contact rate. Higher spatial fidelity leads to more agents aggregating to task location, reducing contact between groups, thus making task switching more difficult. Our results provide important insights into the mechanisms that generate spatial heterogeneity and deepen our understanding of how spatial heterogeneity impacts task allocation, social interaction, and information spread.

How honeybees respond to heat stress from the individual to colony level

A honey bee colony functions as an integrated collective, with individuals coordinating their behaviour to adapt and respond to unexpected disturbances. Nest homeostasis is critical for colony function; when ambient temperatures increase, individuals switch to thermoregulatory roles to cool the nest, such as fanning and water collection. While prior work has focused on bees engaged in specific behaviours, less is known about how responses are coordinated at the colony level, and how previous tasks predict behavioural changes during a heat stress. Using BeesBook automated tracking, we follow thousands of individuals during an experimentally induced heat stress, and analyse their behavioural changes from the individual to colony level. We show that heat stress causes an overall increase in activity levels and a spatial reorganization of bees away from the brood area. Using a generalized framework to analyse individual behaviour, we find that individuals differ in their response to heat stress, which depends on their prior behaviour and correlates with age. Examining the correlation of behavioural metrics over time suggests that heat stress perturbation does not have a long-lasting effect on an individual's future behaviour. These results demonstrate how thousands of individuals within a colony change their behaviour to achieve a coordinated response to an environmental disturbance.

Effects of honeybee (Apis cerana) visiting behaviour on toxic plant (Tripterygium hypoglaucum) reproduction

Honeybees play a significant role in the plant-pollinator interactions of many flowering plants. The ecological and evolutionary consequences of plant-pollinator interactions vary by geographic region, and the effects of honeybees on the reproduction of toxic plants have not been well studied. We measured the florescence of toxic plants, the flower-visiting behaviour of honeybees and the effects of pollination on the fertility, weight and moisture content of seeds. The effects of climatic factors on the number of flowers, and the spatial and temporal variation in pollinator visits were evaluated, and the effects of pollinator visits on seed quality were evaluated. Flower visitors were diverse, climatic factors had a great impact on spatio-temporal flowering variation and the number of bee visits was strongly correlated with the spatio-temporal variation in the number of flowers. Honeybees strongly increase the fullness and weight of seeds. Our study demonstrated a good ecological fit between the spatio-temporal variation in the flowering of toxic plants and the general validity of honeybee pollination syndrome in the south of Hengduan Mountains in East Asia. A linear relationship between honeybee visitation and plant reproduction can benefit the stabilization of plant reproduction.

Task switching is associated with temporal delays in Temnothorax rugatulus ants

The major evolutionary transitions often result in reorganization of biological systems, and a component of such reorganization is that individuals within the system specialize on performing certain tasks, resulting in a division of labor. Although the traditional benefit of division of labor is thought to be a gain in work efficiency, one alternative benefit of specialization is avoiding temporal delays associated with switching tasks. While models have demonstrated that costs of task switching can drive the evolution of division of labor, little empirical support exists for this hypothesis. We tested whether there were task-switching costs in Temnothorax rugatulus. We recorded the behavior of every individual in 44 colonies and used this dataset to identify each instance where an individual performed a task, spent time in the interval (i.e., inactive, wandering inside, and self-grooming), and then performed a task again. We compared the interval time where an individual switched task type between that first and second bout of work to instances where an individual performed the same type of work in both bouts. In certain cases, we find that the interval time was significantly shorter if individuals repeated the same task. We find this time cost for switching to a new behavior in all active worker groups, that is, independently of worker specialization. These results suggest that task-switching costs may select for behavioral specialization.

Sting, Carry and Stock: How Corpse Availability Can Regulate De-Centralized Task Allocation in a Ponerine Ant Colony

We develop a model to produce plausible patterns of task partitioning in the ponerine ant Ectatomma ruidum based on the availability of living prey and prey corpses. The model is based on the organizational capabilities of a “common stomach” through which the colony utilizes the availability of a natural (food) substance as a major communication channel to regulate the income and expenditure of the very same substance. This communication channel has also a central role in regulating task partitioning of collective hunting behavior in a supply&demand-driven manner. Our model shows that task partitioning of the collective hunting behavior in E. ruidum can be explained by regulation due to a common stomach system. The saturation of the common stomach provides accessible information to individual ants so that they can adjust their hunting behavior accordingly by engaging in or by abandoning from stinging or transporting tasks. The common stomach is able to establish and to keep stabilized an effective mix of workforce to exploit the prey population and to transport food into the nest. This system is also able to react to external perturbations in a de-centralized homeostatic way, such as to changes in the prey density or to accumulation of food in the nest. In case of stable conditions the system develops towards an equilibrium concerning colony size and prey density. Our model shows that organization of work through a common stomach system can allow Ectatomma ruidum to collectively forage for food in a robust, reactive and reliable way. The model is compared to previously published models that followed a different modeling approach. Based on our model analysis we also suggest a series of experiments for which our model gives plausible predictions. These predictions are used to formulate a set of testable hypotheses that should be investigated empirically in future experimentation.

A Consensus-Based Grouping Algorithm for Multi-agent Cooperative Task Allocation with Complex Requirements

This paper looks at consensus algorithms for agent cooperation with unmanned aerial vehicles. The foundation is the consensus-based bundle algorithm, which is extended to allow multi-agent tasks requiring agents to cooperate in completing individual tasks. Inspiration is taken from the cognitive behaviours of eusocial animals for cooperation and improved assignments. Using the behaviours observed in bees and ants inspires decentralised algorithms for groups of agents to adapt to changing task demand. Further extensions are provided to improve task complexity handling by the agents with added equipment requirements and task dependencies. We address the problems of handling these challenges and improve the efficiency of the algorithm for these requirements, whilst decreasing the communication cost with a new data structure. The proposed algorithm converges to a conflict-free, feasible solution of which previous algorithms are unable to account for. Furthermore, the algorithm takes into account heterogeneous agents, deadlocking and a method to store assignments for a dynamical environment. Simulation results demonstrate reduced data usage and communication time to come to a consensus on multi-agent tasks.

Worker personality and its association with spatially structured division of labor

Division of labor is a defining characteristic of social insects and fundamental to their ecological success. Many of the numerous tasks essential for the survival of the colony must be performed at a specific location. Consequently, spatial organization is an integral aspect of division of labor. The mechanisms organizing the spatial distribution of workers, separating inside and outside workers without central control, is an essential, but so far neglected aspect of division of labor. In this study, we investigate the behavioral mechanisms governing the spatial distribution of individual workers and its physiological underpinning in the ant Myrmica rubra. By investigating worker personalities we uncover position-associated behavioral syndromes. This context-independent and temporally stable set of correlated behaviors (positive association between movements and attraction towards light) could promote the basic separation between inside (brood tenders) and outside workers (foragers). These position-associated behavior syndromes are coupled with a high probability to perform tasks, located at the defined position, and a characteristic cuticular hydrocarbon profile. We discuss the potentially physiological causes for the observed behavioral syndromes and highlight how the study of animal personalities can provide new insights for the study of division of labor and self-organized processes in general.

Implications of behavioral architecture for the evolution of self-organized division of labor

Division of labor has been studied separately from a proximate self-organization and an ultimate evolutionary perspective. We aim to bring together these two perspectives. So far this has been done by choosing a behavioral mechanism a priori and considering the evolution of the properties of this mechanism. Here we use artificial neural networks to allow for a more open architecture. We study whether emergent division of labor can evolve in two different network architectures; a simple feedforward network, and a more complex network that includes the possibility of self-feedback from previous experiences. We focus on two aspects of division of labor; worker specialization and the ratio of work performed for each task. Colony fitness is maximized by both reducing idleness and achieving a predefined optimal work ratio. Our results indicate that architectural constraints play an important role for the outcome of evolution. With the simplest network, only genetically determined specialization is possible. This imposes several limitations on worker specialization. Moreover, in order to minimize idleness, networks evolve a biased work ratio, even when an unbiased work ratio would be optimal. By adding self-feedback to the network we increase the network's flexibility and worker specialization evolves under a wider parameter range. Optimal work ratios are more easily achieved with the self-feedback network, but still provide a challenge when combined with worker specialization.

Modeling the Adaptive Role of Negative Signaling in Honey Bee Intraspecific Competition

Collective decision making in the social insects often proceeds via feedback cycles based on positive signaling. Negative signals have, however, been found in a few contexts in which costs exist for paying attention to no longer useful information. Here we incorporate new research on the specificity and context of the negative stop signal into an agent based model of honey bee foraging to explore the adaptive basis of negative signaling in the dance language. Our work suggests that the stop signal, by acting as a counterbalance to the waggle dance, allows colonies to rapidly shut down attacks on other colonies. This could be a key adaptation, as the costs of attacking a colony strong enough to defend itself are significant. ELECTRONIC SUPPLEMENTARY MATERIAL: The online version of this article (doi:10.1007/s10905-010-9229-5) contains supplementary material, which is available to authorized users.

Spatial effects, sampling errors, and task specialization in the honey bee

Task allocation patterns should depend on the spatial distribution of work within the nest, variation in task demand, and the movement patterns of workers, however, relatively little research has focused on these topics. This study uses a spatially explicit agent based model to determine whether such factors alone can generate biases in task performance at the individual level in the honey bees, Apis mellifera. Specialization (bias in task performance) is shown to result from strong sampling error due to localized task demand, relatively slow moving workers relative to nest size, and strong spatial variation in task demand. To date, specialization has been primarily interpreted with the response threshold concept, which is focused on intrinsic (typically genotypic) differences between workers. Response threshold variation and sampling error due to spatial effects are not mutually exclusive, however, and this study suggests that both contribute to patterns of task bias at the individual level. While spatial effects are strong enough to explain some documented cases of specialization; they are relatively short term and not explanatory for long term cases of specialization. In general, this study suggests that the spatial layout of tasks and fluctuations in their demand must be explicitly controlled for in studies focused on identifying genotypic specialists.

Division of labor in honeybees: form, function, and proximate mechanisms

Honeybees exhibit two patterns of organization of work. In the spring and summer, division of labor is used to maximize growth rate and resource accumulation, while during the winter, worker survivorship through the poor season is paramount, and bees become generalists. This work proposes new organismal and proximate level conceptual models for these phenomena. The first half of the paper presents a push–pull model for temporal polyethism. Members of the nursing caste are proposed to be pushed from their caste by the development of workers behind them in the temporal caste sequence, while middle-aged bees are pulled from their caste via interactions with the caste ahead of them. The model is, hence, an amalgamation of previous models, in particular, the social inhibition and foraging for work models. The second half of the paper presents a model for the proximate basis of temporal polyethism. Temporal castes exhibit specialized physiology and switch caste when it is adaptive at the colony level. The model proposes that caste-specific physiology is dependent on mutually reinforcing positive feedback mechanisms that lock a bee into a particular behavioral phase. Releasing mechanisms that relate colony level information are then hypothesized to disrupt particular components of the priming mechanisms to trigger endocrinological cascades that lead to the next temporal caste. Priming and releasing mechanisms for the nursing caste are mapped out that are consistent with current experimental results. Less information-rich, but plausible, mechanisms for the middle-aged and foraging castes are also presented.