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Task allocation is an important problem for robot swarms to solve, allowing agents to reduce task completion time by performing tasks in a distributed fashion. Existing task allocation algorithms often assume prior knowledge of task location and demand or fail to consider the effects of the geometric distribution of tasks on the completion time and communication cost of the algorithms. In this paper, we examine an environment where agents must explore and discover tasks with positive demand and successfully assign themselves to complete all such tasks. We first provide a new discrete general model for modeling swarms. Operating within this theoretical framework, we propose two new task allocation algorithms for initially unknown environments – one based on N-site selection and the other on virtual pheromones. We analyze each algorithm separately and also evaluate the effectiveness of the two algorithms in dense vs. sparse task distributions. Compared to the Levy walk, which has been theorized to be optimal for foraging, our virtual pheromone inspired algorithm is much faster in sparse to medium task densities but is communication and agent intensive. Our site selection inspired algorithm also outperforms Levy walk in sparse task densities and is a less resource-intensive option than our virtual pheromone algorithm for this case. Because the performance of both algorithms relative to random walk is dependent on task density, our results shed light on how task density is important in choosing a task allocation algorithm in initially unknown environments. 

Due to the increasing complexity of robot swarm algorithms, ana- lyzing their performance theoretically is often very difficult. Instead, simulators are often used to benchmark the performance of robot swarm algorithms. However, we are not aware of simulators that take advantage of the naturally highly parallel nature of distributed robot swarms. This paper presents ParSwarm, a parallel C++ frame- work for simulating robot swarms at scale on multicore machines. We demonstrate the power of ParSwarm by implementing two applications, task allocation and density estimation, and running simulations on large numbers of agents. 

Task allocation is an important problem for robot swarms to solve, allowing agents to reduce task completion time by performing tasks in a distributed fashion. Existing task allocation algorithms often assume prior knowledge of task location and demand or fail to consider the effects of the geometric distribution of tasks on the completion time and communication cost of the algorithms. In this paper, we examine an environment where agents must explore and discover tasks with positive demand and successfully assign themselves to complete all such tasks. We first provide a new dis- crete general model for modeling swarms. Operating within this theoretical framework, we propose two new task allocation algo- rithms for initially unknown environments – one based on N-site selection and the other on virtual pheromones. We analyze each algorithm separately and also evaluate the effectiveness of the two algorithms in dense vs. sparse task distributions. Compared to the Levy walk, which has been theorized to be optimal for foraging, our virtual pheromone inspired algorithm is much faster in sparse to medium task densities but is communication and agent intensive. Our site selection inspired algorithm also outperforms Levy walk in sparse task densities and is a less resource-intensive option than our virtual pheromone algorithm for this case. Because the perfor- mance of both algorithms relative to random walk is dependent on task density, our results shed light on how task density is impor- tant in choosing a task allocation algorithm in initially unknown environments. 

Abstract Background Uncontrolled growth in solid breast cancer generates mechanical compression that may drive the cancer cells into a more invasive phenotype, but little is known about how such compression affects the key events and corresponding regulatory mechanisms associated with invasion of breast cancer cells including cellular behaviors and matrix degradation. Results Here we show that compression enhanced invasion and matrix degradation of breast cancer cells. We also identified Piezo1 as the putative mechanosensitive cellular component that transmitted compression to not only enhance the invasive phenotype, but also induce calcium influx and downstream Src signaling. Furthermore, we demonstrated that Piezo1 was mainly localized in caveolae, and both Piezo1 expression and compression-enhanced invasive phenotype of the breast cancer cells were reduced when caveolar integrity was compromised by either knocking down caveolin1 expression or depleting cholesterol content. Conclusions Taken together, our data indicate that mechanical compression activates Piezo1 channels to mediate enhanced breast cancer cell invasion, which involves both cellular events and matrix degradation. This may be a critical mechanotransduction pathway during breast cancer metastasis, and thus potentially a novel therapeutic target for the disease. 

Cellular unjamming is the collective fluidization of cell motion and has been linked to many biological processes, including development, wound repair, and tumor growth. In tumor growth, the uncontrolled proliferation of cancer cells in a confined space generates mechanical compressive stress. However, because multiple cellular and molecular mechanisms may be operating simultaneously, the role of compressive stress in unjamming transitions during cancer progression remains unknown. Here, we investigate which mechanism dominates in a dense, mechanically stressed monolayer. We find that long-term mechanical compression triggers cell arrest in benign epithelial cells and enhances cancer cell migration in transitions correlated with cell shape, leading us to examine the contributions of cell–cell adhesion and substrate traction in unjamming transitions. We show that cadherin-mediated cell–cell adhesion regulates differential cellular responses to compressive stress and is an important driver of unjamming in stressed monolayers. Importantly, compressive stress does not induce the epithelial–mesenchymal transition in unjammed cells. Furthermore, traction force microscopy reveals the attenuation of traction stresses in compressed cells within the bulk monolayer regardless of cell type and motility. As traction within the bulk monolayer decreases with compressive pressure, cancer cells at the leading edge of the cell layer exhibit sustained traction under compression. Together, strengthened intercellular adhesion and attenuation of traction forces within the bulk cell sheet under compression lead to fluidization of the cell layer and may impact collective cell motion in tumor development and breast cancer progression. 

The house hunting behavior of the Temnothorax albipennis ant allows the colony to explore several nest choices and agree on the best one. Their behavior serves as the basis for many bio-inspired swarm models to solve the same problem. However, many of the existing site selection models in both insect colony and swarm literature test the model’s accuracy and decision time only on setups where all potential site choices are equidistant from the swarm’s starting location. These models do not account for the geographic challenges that result from site choices with different geometry. For example, although actual ant colonies are capable of consistently choosing a higher quality, further site instead of a lower quality, closer site, existing models are much less accurate in this scenario. Existing models are also more prone to committing to a low quality site if it is on the path between the agents’ starting site and a higher quality site. We present a new model for the site selection problem and verify via simulation that is able to better handle these geographic challenges. Our results provide insight into the types of challenges site selection models face when distance is taken into account. Our work will allow swarms to be robust to more realistic situations where sites could be distributed in the environment in many different ways.