Gradient-Based Self-Organisation Patterns of Anticipative Adaptation

In this paper we conceive new self-organisation mechanisms to enhance the Gradient self-organisation pattern with anticipative adaptation abilities. We ensure that the problem of retrieving a target of interest in mobile environments is solved by proactively reacting to locally-available information about future events, namely, the knowledge about future obstacles (e.g., expected jams or road interruption in a traffic control scenario) is used to compute alternative and faster paths in an emergent way.