Toward a theory of collective resource distribution: a study of a dynamic morphogenesis controller

Abstract

Nature has various approaches to manage the collective distribution of resources. The division of a honeybee colony into subgroups, the formation of ant trails to food sources, and the spread of tree branches to optimize the access to light are some examples of collective decision making for resource distribution. This paper investigates collective distribution via an algorithm named vascular morphogenesis controller (VMC). This algorithm is inspired by plant morphogenesis that is a result of competitions between branches for shared resources, e.g., water and minerals. The algorithm acts on a directed graph and determines its dynamics over time. The nodes of the graph collectively decide on the distribution of a shared resource to propose the places to add or remove new nodes. The resulting dynamical system is adaptive to variations in the structural and environmental conditions. In this paper, the VMC is embodied in a modular physical structure. The structures’ modules host the nodes of the VMC graph. They may suggest changes in the morphology over time, and a human can manually implement them into the physical structure. The paper investigates the effects of different parameters of the algorithm on the collective behavior of the system, both through embodied implementations and theory. The investigations have led to a better understanding of various aspects of the VMC and provided new knowledge to facilitate parameter selection for potential applications. Furthermore, the analyses have indicated similarities between the VMC and other types of collective systems, suggesting the potential benefits of viewing those systems from the perspective of resource distribution.