Altruistic behaviors, such as self-sacrifices, are commonly observed in diverse living systems from bacteria to animal societies. Motivated by the fact that self-sacrifices of individuals can benefit the entire populations, we developed a decentralized control scheme with self-sacrifice by extending the Slimebot model. When an agent is not performing favorably, the agent self-sacrifices by stopping the motion and transferring its energy to nearby agents. We demonstrate via simulations that the proposed control scheme enables the agents to perform tasks effectively under several environments.
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Massachusetts Institute of Technology