Distributed sequential task allocation in foraging swarms

When designing a practical swarm robotics system, self-organized task allocation is key to make best use of resources. Current research in this area focuses on task allocation which is either distributed (tasks must be performed at different locations) or sequential (tasks are complex and must be split into simpler sub-tasks and processed in order). In practice, however, swarms will need to deal with tasks which are both distributed and sequential. In this paper, a classic foraging problem is extended to incorporate both distributed and sequential tasks. The problem is analysed theoretically, absolute limits on performance are derived, and a set of conditions for a successful algorithm are established. It is shown empirically that an algorithm which meets these conditions, by causing emergent cooperation between robots can achieve consistently high performance under a wide range of settings without the need for communication. © 2013 IEEE.

Vergence control across saccades in dyslexic adults

Many aspects of vision have been investigated in developmental dyslexia. Some research suggests deficits in vergence control (e.g. Buzzelli, 1991, Optom. Vision Sci. 68, 842±846), although ability to control vergence across saccades has not yet been investigated. We have explored this question indirectly using Enright's (1996 Vision Res. 36, 307±312.) sequential stereopsis task. The task requires observers to set two adjacent targets (whose textures cannot be resolved simultaneously if either is fixated) to appear equi-distant. Enright has argued that sequential stereopsis stereoacuity thresholds offer an indication of vergence control across saccades. We report two experiments using a total of 17 dyslexic and 18 control adults. Performance was measured on a sequential stereopsis task and an ordinary `simultaneous' stereopsis task. No significant differences between groups were found. However, whereas practice of the sequential task lowered control group thresholds on the simultaneous task, for the dyslexic group it significantly raised thresholds, suggesting that visual fatigue is especially important in investigations of visual functions in dyslexia. Although the small samples used limit conclusions at this stage, the main sequential stereopsis results suggest that, if Enright is correct, dyslexic adults can show normal vergence control across saccades.