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Entropy 2014, 16(3), 1315-1330;

Information Flow in Animal-Robot Interactions

Department of Mechanical and Aerospace Engineering, New York University Polytechnic School of Engineering, Brooklyn, NY 11201, USA
Department of Mechanical Engineering, University of Ottawa, Ontario K1N 6N5, Canada
Author to whom correspondence should be addressed.
Received: 30 December 2013 / Revised: 18 February 2014 / Accepted: 25 February 2014 / Published: 28 February 2014
(This article belongs to the Special Issue Information in Dynamical Systems and Complex Systems)
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The nonverbal transmission of information between social animals is a primary driving force behind their actions and, therefore, an important quantity to measure in animal behavior studies. Despite its key role in social behavior, the flow of information has only been inferred by correlating the actions of individuals with a simplifying assumption of linearity. In this paper, we leverage information-theoretic tools to relax this assumption. To demonstrate the feasibility of our approach, we focus on a robotics-based experimental paradigm, which affords consistent and controllable delivery of visual stimuli to zebrafish. Specifically, we use a robotic arm to maneuver a life-sized replica of a zebrafish in a predetermined trajectory as it interacts with a focal subject in a test tank. We track the fish and the replica through time and use the resulting trajectory data to measure the transfer entropy between the replica and the focal subject, which, in turn, is used to quantify one-directional information flow from the robot to the fish. In agreement with our expectations, we find that the information flow from the replica to the zebrafish is significantly more than the other way around. Notably, such information is specifically related to the response of the fish to the replica, whereby we observe that the information flow is reduced significantly if the motion of the replica is randomly delayed in a surrogate dataset. In addition, comparison with a control experiment, where the replica is replaced by a conspecific, shows that the information flow toward the focal fish is significantly more for a robotic than a live stimulus. These findings support the reliability of using transfer entropy as a measure of information flow, while providing indirect evidence for the efficacy of a robotics-based platform in animal behavioral studies. View Full-Text
Keywords: entropy; information flow; robotics; social behavior; zebrafish entropy; information flow; robotics; social behavior; zebrafish
This is an open access article distributed under the Creative Commons Attribution License (CC BY 3.0).

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Butail, S.; Ladu, F.; Spinello, D.; Porfiri, M. Information Flow in Animal-Robot Interactions. Entropy 2014, 16, 1315-1330.

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