To address these challenges, this thesis presents a formal approach to designing biologically-inspired swarm control strategies for spatially-confined coverage and payload transport tasks, as well as a novel low-cost, customizable robotic platform for testing swarm control approaches. Stochastic control strategies are developed that provably allocate a swarm of robots around the boundaries of multiple regions of interest or payloads to be transported. These strategies account for spatially-dependent effects on the robots' physical distribution and are largely robust to environmental variations. In addition, a control approach based on reinforcement learning is presented for collective payload towing that accommodates robots with heterogeneous maximum speeds. For both types of collective transport tasks, rigorous approaches are developed to identify and translate observed group retrieval behaviors in Novomessor cockerelli ants to swarm robotic control strategies. These strategies can replicate features of ant transport and inherit its properties of robustness to different environments and to varying team compositions. The approaches incorporate dynamical models of the swarm that are amenable to analysis and control techniques, and therefore provide theoretical guarantees on the system's performance. Implementation of these strategies on robotic swarms offers a way for biologists to test hypotheses about the individual-level mechanisms that drive collective behaviors. Finally, this thesis describes Pheeno, a new swarm robotic platform with a three degree-of-freedom manipulator arm, and describes its use in validating a variety of swarm control strategies.
Ants are widespread species of eusocial insects, and myrmecophily describes the species which are associated with ants. Many mites are myrmecophilous species and interact with hosts in many ways such as phoresis or parasitism. The relationship between ants and mites are interesting as parasitic species could be used to control the spread of invasive ant species. For this project, I reviewed the existing literature on myrmecophilous mites around the world and compiled a database of ant-mite associations, which I then used to characterize factors such as host specificity, attachment sites, and biogeographical patterns. This work demonstrates that existing research on myrmecophilous mites has been both geographically and taxonomically biased and highlights the need for much more comprehensive surveys of mites living in association with ants.
Black-footed ferrets have become one of the most popular conservation success stories because of the miraculous rediscovery of the species after being declared extinct and the growing population today. The stability of the species is still highly variable as the ferrets are threatened by disease, habitat fragmentation, human infringement, and the extermination of their main prey item the prairie dog. The complexity of the issue arises from negative public perceptions of prairie dogs leading to less citizen support for protection which in turn undermines progress in black-footed ferret conservation. General issues with the bureaucracy of conservation helps to delay a formal protection of species at risk which would be especially important for species that are actively being removed or exterminated by humans like the prairie dog. Careful analysis of the black-footed ferret and the prairie dog through the lenses of their natural histories, conservation histories, and modern conservation methods suggest that the public’s opinion and support is the greatest tool for the protection of species at risk because of the complexity of conservation and the rallying bureaucratic motion.