Jun.-Prof. Dr. Heiko Hamann

Associate Member of the Algorithms and Complexity Group

University of Paderborn
Department of Computer Science
Fürstenallee 11
33102 Paderborn
Germany

Secretary: Petra Schäfermeyer

see also heikohamann.de

Büro: F1.221
Telefon: +49 5251 60 - 6465
Fax:
Email: heiko.hamann[at]uni-paderborn.de

Research

  • swarm robotics, distributed robotics, multi-modular robotics
  • (semi-)automatic synthesis of robot controllers/agent behavior
  • modeling complex systems (mathematical analysis of large-scale multi-agent systems)
  • understanding emergence and the emergence of complexity in evolutionary processes

Publications

Authored Books, Guest-edited Special Issues

[B3]
Marco Dorigo, Mauro Birattari, Simon Garnier, Heiko Hamann, Marco Montes de Oca, Christine Solnon, Thomas Stützle (eds.)
Swarm Intelligence - 9th International Conference (ANTS 2014), LNCS vol. 8667, ISBN 978-3-319-09951-4, Springer, 2014

[B2]
Heiko Hamann, Thomas Schmickl
Special Issue: Modelling the Swarm in Mathematical and Computer Modelling of Dynamical Systems 18(1), Taylor & Francis, 2012

[B1]
Heiko Hamann
Space-Time Continuous Models of Swarm Robotic Systems: Supporting Global-to-Local Programming
Cognitive Systems Monographs, Vol. 9, ISBN: 978-3-642-13376-3, Springer-Verlag, 2010

International Journals

[J12]
Heiko Hamann, Thomas Schmickl, Karl Crailsheim
Analysis of Swarm Behaviors Based on an Inversion of the Fluctuation Theorem
Artificial Life, 20(1):77-93, 2014

[J11]
Heiko Hamann
Towards Swarm Calculus: Urn Models of Collective Decisions and Universal Properties of Swarm Performance
Swarm Intelligence, 7(2-3):145-172, 2013

[J10]
Heiko Hamann, Istvan Karsai, Thomas Schmickl
Time Delay Implies Cost on Task Switching: A Model to Investigate the Efficiency of Task Partitioning
Bulletin of Mathematical Biology, 75(7):1181-1206, July 2013

[J9]
Jürgen Stradner, Ronald Thenius, Payam Zahadat, Heiko Hamann, Karl Crailsheim, Thomas Schmickl
Algorithmic Requirements for Swarm Intelligence in Differently Coupled Collective Systems
Chaos, Solitons & Fractals, 50:100-114, 2013 (open access)

[J8]
Heiko Hamann, Thomas Schmickl, and Karl Crailsheim
A Hormone-Based Controller for Evaluation-Minimal Evolution in Decentrally Controlled Systems
Artificial Life, 18(2): 165-198, 2012

[J7]
Heiko Hamann, Thomas Schmickl, and Karl Crailsheim
Self-Organized Pattern Formation in a Swarm System as a Transient Phenomenon of Non-Linear Dynamics
Mathematical and Computer Modelling of Dynamical Systems 18(1): 39-50, 2012

[J6]
Heiko Hamann, Thomas Schmickl, Heinz Wörn, and Karl Crailsheim
Analysis of Emergent Symmetry Breaking in Collective Decision Making
Neural Computing & Applications, Special Issue: Swarm Intelligence and Swarm Robotics. Guest Editors: Nikolaus Correll, Zhihua Cui, Xiao-Zhi Gao, Roderich Gross, 21(2): 207-218, 2012

[J5]
Thomas Schmickl, Heiko Hamann, and Karl Crailsheim
Modelling a Hormone-Inspired Controller for Individual- and Multi-Modular Robotic Systems
Mathematical and Computer Modelling of Dynamical Systems, 17(3): 221-242, 2011

[J4]
Thomas Schmickl, Heiko Hamann, Heinz Wörn, and Karl Crailsheim
Two Different Approaches to a Macroscopic Model of a Bio-Inspired Robotic Swarm
Robotics and Autonomous Systems, 57(9): 913-921, September 2009

[J3]
Heiko Hamann and Heinz Wörn
A Framework of Space-Time Continuous Models for Algorithm Design in Swarm Robotics
Swarm Intelligence, Special Issue: Swarm Robotics. Guest Editors: Erol Sahin and Alan Winfield, 2(2-4): 209-239, October 2008

[J2]
Heiko Hamann and Heinz Wörn
Embodied Computation
Parallel Processing Letters, Marius Nagy and Naya Nagy (editors), 17(3): 287-298, September 2007

[J1]
Heiko Hamann
Definition and Behavior of Langton's Ant in Three Dimensions
Complex Systems, 14(3): 263-268, 2003


Book Chapters

[BC3] Nikolaus Correll and Heiko Hamann
Probabilistic Modeling of Swarming Systems
Springer Handbook of Computational Intelligence, J. Kacprzyk, W. Pedrycz (eds.), ISBN: 9783662435045, 2015 (in press)

[BC2]
Thomas Schmickl, Heiko Hamann
BEECLUST: A Swarm Algorithm Derived from Honeybees. Derivation of the Algorithm, Analysis by Mathematical Models and Implementation on a Robot Swarm
Bio-inspired Computing and Networking, Yang Xiao (editor), pp. 95-137, CRC Press (Taylor & Francis Group), ISBN: 9781420080322, 2011

[BC1]
Thomas Schmickl, Heiko Hamann, Jürgen Stradner, Karl Crailsheim
Hormone-based Control for Multi-modular Robotics
Symbiotic Multi-Robot Organisms: Reliability, Adaptability, Evolution, Paul Levi and Serge Kernbach (editors), pp. 240-263, Springer-Verlag, ISBN: 9783642116919, 2010


International Conferences (peer-reviewed)

[C40]
Gabriele Valentini, Heiko Hamann, Marco Dorigo
Efficient Decision-Making in a Self-Organizing Robot Swarm: On the Speed Versus Accuracy Trade-Off
AAMAS 2015, Istanbul, Turkey, 2015 (in press)

[C39]
Self-Organized Collective Decisions in a Robot Swarm
AAAI Video Competition 2015, Austin, TX, USA, 2015 [best student video award]

[C38]
Mostafa Wahby and Heiko Hamann
On the Tradeoff between Hardware Protection and Optimization Success: A Case Study in Onboard Evolutionary Robotics for Autonomous Parallel Parking
EvoStar 2015, Copenhagen, Denmark, 2015

[C37][extended abstract]
Istvan Karsai, Thomas Schmickl, Heiko Hamann, Allison Hilbun
The common stomach: Organizing task allocation in wasp societies
Symposium on Biomathematics and Ecology: Education and Research, Claremont, CA, USA, 2014

[C36]
Heiko Hamann, Gabriele Valentini, Yara Khaluf, Marco Dorigo
Derivation of a Micro-Macro Link for Collective Decision-Making Systems: Uncover Network Features Based on Drift Measurements
13th Intern. Conf. on Parallel Problem Solving from Nature (PPSN 2014), Ljubljana, Slovenia, T. Bartz-Beielstein et al. (eds.), LNCS 8672, pp. 181-190, Springer, 2014

[C35]
Heiko Hamann
Evolution of Collective Behaviors by Minimizing Surprise
14th Int. Conf. on the Synthesis and Simulation of Living Systems (ALIFE 2014), New York, USA, Hiroki Sayama, John Rieffel, Sebastian Risi, René Doursat and Hod Lipson (eds.), pp. 344-351, MIT Press, 2014

[C34]
Heiko Hamann, Gabriele Valentini
Swarm in a fly bottle: Feedback-based Analysis of Self-organizing Temporary Lock-ins
Ninth Int. Conf. on Swarm Intelligence (ANTS 2014), Brussels, Belgium, Marco Dorigo, Mauro Birattari, Simon Garnier, Heiko Hamann, Marco Montes de Oca, Christine Solnon, Thomas Stützle (eds.), LNCS 8667, pp. 170-181, Springer, 2014

[C33]
Hongli Ding, Heiko Hamann
Sorting in Swarm Robots Using Communication-Based Cluster Size Estimation
Ninth Int. Conf. on Swarm Intelligence (ANTS 2014), Brussels, Belgium, Marco Dorigo, Mauro Birattari, Simon Garnier, Heiko Hamann, Marco Montes de Oca, Christine Solnon, Thomas Stützle (eds.), LNCS 8667, pp. 262-269, Springer, 2014

[C32][extended abstract]
Heiko Hamann
Evolving Prediction Machines: Collective Behaviors Based on Minimal Surprisal
Genetic and Evolutionary Computation Conference (GECCO 2014), Vancouver, Canada, Christian Igel (ed.), pp. 31-32, ACM, 2014

[C31]
Yara Khaluf, Mauro Birattari, Heiko Hamann
A Swarm Robotics Approach to Task Allocation Under Soft Deadlines and Negligible Switching Costs
Simulation of Adaptive Behavior (SAB 2014), Castellon, Spain, Angel P. del Pobil, Eris Chinellato, Ester Martinez-Martin, John Hallam, Enric Cervera, Antonio Morales (eds.), pp. 270-279, LNCS 8575, Springer, 2014

[C30]
Gabriele Valentini, Heiko Hamann, Marco Dorigo
Self-Organized Collective Decision Making: The Weighted Voter Model
13th Int. Conf. on Autonomous Agents and Mutli-agent Systems (AAMAS 2014), Paris, France, Alessio Lomuscio, Paul Scerri, Ana Bazzan, Michael Huhns (eds.), pp. 45-52, ACM, 2014

[C29]
Heiko Hamann
A Reductionist Approach to Hypothesis-Catching for the Analysis of Self-Organizing Decision-Making Systems
7th IEEE Int. Conf. on Self-Adaptive and Self-Organizing Systems (SASO 2013), Philadelphia, USA, pp. 227-236, IEEE, 2013

[C28]
Heiko Hamann
Speciation Dynamics: Generating Selective Pressure Towards Diversity
12th European Conference on Artificial Life (ECAL 2013), Taormina, Italy, Pietro Liò, Orazio Miglino, Giuseppe Nicosia, Stefano Nolfi and Mario Pavone (eds.), pp. 947-954, MIT Press, 2013 [nominee for best paper award (top 8)]

[C27]
Jürgen Stradner, Heiko Hamann, Christopher S. F. Schwarzer, Nico K. Michiels, Thomas Schmickl
Virtual Spatiality in Agent Controllers: Encoding Compartmentalization
EvoStar 2013, Vienna, Austria, Anna Isabel Esparcia-Alcazar (ed.), LNCS 7835, pp. 579-588, Springer-Verlag, 2013

[C26]
Heiko Hamann
Towards Swarm Calculus: Universal Properties of Swarm Performance and Collective Decisions
ANTS 2012, Brussels, Belgium, Marco Dorigo et al. (eds.), LNCS 7461, pp. 168-179, Springer-Verlag, 2012 [best paper award]

[C25][extended abstract]
Jürgen Stradner, Heiko Hamann, Payam Zahadat, Thomas Schmickl, Karl Crailsheim
On-line, On-board Evolution of Reaction-Diffusion Control for Self-Adaptation
Alife XIII, East Lansing, MI, USA, Christoph Adami, David M. Bryson, Charles Ofria, Robert T. Pennock (eds.), pp. 597-598, 2012

[C24]
Heiko Hamann, Jürgen Stradner, Thomas Schmickl
Towards Morphological Flexibility: Modular Robotics and Bio-inspired Control
Austrian Robotics Workshop (Operational Programme Slovenia-Austria), Graz, Austria, 2012

[C23]
Leo Cazenille, Nicolas Bredeche, Heiko Hamann, Jürgen Stradner
Impact of Neuron Models and Network Structure on Evolving Robot Neural Network Controllers
14th Annual Genetic and Evolutionary Computation Conference, GECCO 2012, Philadelphia, USA, pp. 89-96, ACM, 2012

[C22]
Heiko Hamann, Thomas Schmickl, Karl Crailsheim
Explaining Emergent Behavior in a Swarm System Based on an Inversion of the Fluctuation Theorem
Advances in Artificial Life, ECAL 2011, Paris, France, Tom Lenaerts, Mario Giacobini, Hugues Bersini, Paul Bourgine, Marco Dorigo and Rene Doursat (eds.), pp. 302-309, MIT Press, ISBN: 978-0-262-29714-1 (open access), 2011 [selected as top 10 paper]

[C21]
Heiko Hamann, Thomas Schmickl, Karl Crailsheim
Coupled Inverted Pendulums: A Benchmark for Evolving Decentral Controllers in Modular Robotics
13th Annual Genetic and Evolutionary Computation Conference, GECCO 2011, Dublin, Ireland, Natalio Krasnogor and Pier Luca Lanzi (eds.), pp. 195-202, ACM, 2011

[C20]
Thomas Schmickl, Jürgen Stradner, Heiko Hamann, Lutz Winkler, Karl Crailsheim
Major Feedbacks Supporting Artificial Evolution in Multi-Modular Robotics
New Horizons in Evolutionary Robotics (Studies in Computational Intelligence Vol. 341), Stephane Doncieux, Nicolas Bredeche, Jean-Baptiste Mouret (editors), p. 195-209, Springer-Verlag, 2011

[C19]
Jürgen Stradner, Heiko Hamann, Thomas Schmickl, Ronald Thenius, Karl Crailsheim
Evolving a Novel Bio-Inspired Controller in Reconfigurable Robots
10th European Conference on Artificial Life (ECAL'09), Budapest, Hungary, LNCS 5777, pp. 132-139, Springer-Verlag, 2011

[C18]
Daniela Kengyel, Thomas Schmickl, Heiko Hamann, Ronald Thenius, Karl Crailsheim
Embodiment of Honeybee's Thermotaxis in a Mobile Robot Swarm
10th European Conference on Artificial Life (ECAL'09), Budapest, Hungary, LNCS 5778, pp. 69-76, Springer-Verlag, 2011

[C17]
Heiko Hamann, Thomas Schmickl, Karl Crailsheim
Evolving for Creativity: Maximizing Complexity in a Self-Organized Multi-Particle System
10th European Conference on Artificial Life (ECAL'09), Budapest, Hungary, LNCS 5777, pp. 442-449, Springer-Verlag, 2011

[C16]
Heiko Hamann, Thomas Schmickl, Karl Crailsheim
Thermodynamics of Emergence: Langton's Ant Meets Boltzmann
IEEE ALIFE - 2011 IEEE Symposium on Artificial Life, Paris, France, pp. 62-69, IEEE, 2011

[C15]
Thomas Schmickl, Ronald Thenius, Jürgen Stradner, Heiko Hamann, Karl Crailsheim
Robotic Organisms: Artificial Homeostatic Hormone System and Virtual Embryogenesis as Examples for Adaptive Reaction-Diffusion Controllers
Reconfigurable Modular Robotics: Challenges of Mechatronic and Bio-Chemo-Hybrid Systems (IROS 2011 Workshop), Serge Kernbach and Robert Fitch (eds.), 2011

[C14]
Heiko Hamann, Jürgen Stradner, Thomas Schmickl, Karl Crailsheim
Artificial Hormone Reaction Networks: Towards Higher Evolvability in Evolutionary Multi-Modular Robotics
Artificial Life XII (ALife XII), Odense, Denmark, pp. 773-780, MIT Press (open access), 2010

[C13]
Thomas Schmickl, Heiko Hamann, Jürgen Stradner, Ralf Mayet, Karl Crailsheim
Complex Taxis-Behaviour in a Novel Bio-Inspired Robot Controller
Artificial Life XII (ALife XII), Odense, Denmark, pp. 648-655, MIT Press (open access), 2010

[C12]
Serge Kernbach, Thomas Schmickl, Heiko Hamann, Jürgen Stradner, Christopher Schwarzer, Florian Schlachter, Alan F.T. Winfield, Rene Matthias
Adaptive Action Selection Mechanisms for Evolutionary Multimodular Robotics
Artificial Life XII (ALife XII), Odense, Denmark, pp. 781-788, MIT Press (open access), 2010

[C11]
Heiko Hamann, Bernd Meyer, Thomas Schmickl, Karl Crailsheim
A Model of Symmetry Breaking in Collective Decision-Making
Simulation of Adaptive Behavior (SAB'10), Paris, France, LNAI 6226, pp. 639-648, Springer-Verlag, 2010

[C10]
Heiko Hamann, Jürgen Stradner, Thomas Schmickl, Karl Crailsheim
A Hormone-Based Controller for Evolutionary Multi-Modular Robotics: From Single Modules to Gait Learning
Proc. of the IEEE Congress on Evolutionary Computation (CEC'10), Barcelona, Spain, pp. 244-251, IEEE Press, 2010

[C9]
Serge Kernbach, Heiko Hamann, Jürgen Stradner, Ronald Thenius, Thomas Schmickl, Karl Crailsheim, A.C. van Rossum, Michele Sebag, Nicolas Bredeche, Yao Yao, Guy Baele, Yves Van de Peer, Jon Timmis, Maizura Mohktar, Andy Tyrrell, A.E. Eiben, S.P. McKibbin, Wenguo Liu, Alan F.T. Winfield
On Adaptive Self-Organization in Artificial Robot Organisms
The First International Conference on Adaptive and Self-adaptive Systems and Applications (ADAPTIVE'09), Athens, Greece, November 15-20, IEEE Press, 2009

[C8]
Jürgen Stradner, Heiko Hamann, Thomas Schmickl, Karl Crailsheim
Analysis and Implementation of an Artificial Homeostatic Hormone System: A First Case Study in Robotic Hardware
IEEE/RSJ International Conference on Intelligent RObots and Systems (IROS'09), St. Louis, MO, USA, October 11-15, IEEE Press, 2009

[C7]
Heiko Hamann
Pattern Formation as a Transient Phenomenon in the Nonlinear Dynamics of a Multi-Agent System
MATHMOD 2009 - 6th Vienna International Conference on Mathematical Modelling, Vienna, Austria, February 11-13, 2009

[C6]
Heiko Hamann, Heinz Wörn, Karl Crailsheim, and Thomas Schmickl
Spatial Macroscopic Models of a Bio-Inspired Robotic Swarm Algorithm
IEEE/RSJ 2008 International Conference on Intelligent RObots and Systems (IROS'08), Nice, France, September 22-26, pp. 1415-1420, IEEE Press, 2008

[C5]
Heiko Hamann and Heinz Wörn
Aggregating Robots Compute: An Adaptive Heuristic for the Euclidean Steiner Tree Problem
The tenth International Conference on Simulation of Adaptive Behavior (SAB'08), Osaka, Japan, July 7-12, LNAI 5040, pp. 447-456, Springer-Verlag, 2008

[C4]
Heinz Wörn, Ramon Estana, Heiko Hamann, and Marc Szymanski
From Micro to Nano and Swarm Robotics
Advances in Climbing and Walking Robots. Proceedings of 10th International Conference (CLAWAR'07), Singapore, July 16-18, World Scientific Pub., 2007

[C3]
Heiko Hamann and Heinz Wörn
A Space- and Time-Continuous Model of Self-Organizing Robot Swarms for Design Support
First IEEE International Conference on Self-Adaptive and Self-Organizing Systems (SASO'07), Boston, USA, July 9-11, pp. 23-31, IEEE Press, 2007

[C2]
Heiko Hamann, Marc Szymanski, and Heinz Wörn
Orientation in a Trail Network by Exploiting its Geometry for Swarm Robotics
IEEE Swarm Intelligence Symposium, Honolulu, USA, April 1-5, pp. 310-315, IEEE Press, 2007

[C1]
Heiko Hamann and Heinz Wörn
An Analytical and Spatial Model of Foraging in a Swarm of Robots
Swarm Robotics - Second SAB 2006 International Workshop, Rome, Italy, LNCS 4433, pp. 43-55, Springer-Verlag, 2007

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