The objective of this study is to integrate biomimetic robots into small groups of zebrafish and to modulate their collective behaviours. A possible approach is to have the robots behave like sheepdogs. In this case, the robots would behave like a different species than the fish and would present different relevant behaviours. In this study, we explore different strategies that use biomimetic zebrafish behaviours. In past work, we have shown that robots biomimicking zebrafish can be socially integrated into zebrafish groups. We have also shown that a fish-like robot can modulate the rotation choice of zebrafish groups in a circular set-up. Here, we further study the modulation capabilities of such robots in a more complex set-up. To do this, we exploit zebrafish social behaviours we identified in previous studies. We first modulate collective departure by replicating the leadership mechanisms with the robot in a set-up composed of two rooms connected by a corridor. Then, we test different behavioural strategies to drive the fish groups towards a predefined target room. To drive the biohybrid groups towards a predefined choice, they have to adopt some specific fish-like behaviours. The first strategy is based on a single robot using the initiation behaviour. In this case, the robot keeps trying to initiate a group transition towards the target room. The second strategy is based on two robots, one initiating and one staying in the target room as a social attractant. The third strategy is based on a single robot behaving like a zebrafish but staying in the target room as a social attractant. The fourth strategy uses two robots behaving like zebrafish but staying in the target room. We conclude that robots can modulate zebrafish group behaviour by adopting strategies based on existing fish behaviours. Under these conditions, robots enable the testing of hypotheses about the behaviours of fish.

中文翻译：

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使用闭环仿生机器人系统调节斑马鱼集体动力学的策略。

这项研究的目的是将仿生机器人整合到小群斑马鱼中，并调节它们的集体行为。一种可能的方法是让机器人表现得像牧羊犬。在这种情况下，机器人的行为类似于鱼类，并且表现出不同的相关行为。在这项研究中，我们探索了使用仿生斑马鱼行为的不同策略。在过去的工作中，我们已经证明了模仿斑马鱼的机器人可以在社会上整合到斑马鱼群体中。我们还显示了类似鱼的机器人可以在圆形设置中调节斑马鱼组的旋转选择。在这里，我们将在更复杂的设置中进一步研究此类机器人的调制能力。为此，我们利用了先前研究中确定的斑马鱼社交行为。我们首先通过用机器人复制领导机制来调整集体离场，该机制由通过走廊连接的两个房间组成。然后，我们测试不同的行为策略，以将鱼群推向预定的目标房间。为了使生物杂种群体朝着预定的选择前进，他们必须采取一些特定的类似于鱼类的行为。第一种策略是基于使用启动行为的单个机器人。在这种情况下，机器人会继续尝试向目标房间发起群组转换。第二种策略基于两个机器人，一个机器人启动，另一个机器人作为社交引诱者留在目标房间。第三种策略是基于单个机器人，其行为类似于斑马鱼，但作为社交引诱者留在目标房间。第四个策略使用了两个行为类似斑马鱼但留在目标房间的机器人。我们得出结论，机器人可以通过采用基于现有鱼类行为的策略来调节斑马鱼群的行为。在这种情况下，机器人可以测试关于鱼类行为的假设。