Evolving Self-Organizing Behaviors for a Swarm-bot
http://iridia.ulb.ac.be/~vtrianni/docs/TR2003-11.pdf
Autores: Marco Dorigo, Vito Trianni, Erol Sahin, Roderich Grob, Thomas H. Labella, Gianluca Baldassarre, Stefano Nol, Jean-Louis Deneubourg, Francesco Mondada, Dario Floreano, Luca M. Gambardella.
Université Libre de Bruxelles
In this paper, we introduce a self-assembling and self-organizing artifact, called a swarm-bot, composed of a swarm of s-bots, mobile robots with the ability to connect to and to disconnect from each other. We discuss the challenges involved in controlling a swarm-bot and address the problem of synthesizing controllers for the swarm-bot using articial evolution. Specically, we study aggregation and coordinated motion of the swarm-bot using a physics-based simulation of the system. Experiments, using a simplied simulation model of the s-bots, show that evolution can discover simple but eective controllers for both the aggregation and the coordinated motion of the swarm-bot. Analysis of the evolved controllers shows that they have properties of scalability, that is, they continue to be eective for larger group sizes, and of generality, that is, they produce similar behaviors for congurations dierent from those they were originally evolved for. The portability of the evolved controllers to real s-bots is tested using a detailed simulation model which has been validated against the real s-bots in a companion paper in this same special issue. Keywords: Swarm robotics, swarm intelligence, swarm-bot, evolutionary robotics.
Autores: Marco Dorigo, Vito Trianni, Erol Sahin, Roderich Grob, Thomas H. Labella, Gianluca Baldassarre, Stefano Nol, Jean-Louis Deneubourg, Francesco Mondada, Dario Floreano, Luca M. Gambardella.
Université Libre de Bruxelles
In this paper, we introduce a self-assembling and self-organizing artifact, called a swarm-bot, composed of a swarm of s-bots, mobile robots with the ability to connect to and to disconnect from each other. We discuss the challenges involved in controlling a swarm-bot and address the problem of synthesizing controllers for the swarm-bot using articial evolution. Specically, we study aggregation and coordinated motion of the swarm-bot using a physics-based simulation of the system. Experiments, using a simplied simulation model of the s-bots, show that evolution can discover simple but eective controllers for both the aggregation and the coordinated motion of the swarm-bot. Analysis of the evolved controllers shows that they have properties of scalability, that is, they continue to be eective for larger group sizes, and of generality, that is, they produce similar behaviors for congurations dierent from those they were originally evolved for. The portability of the evolved controllers to real s-bots is tested using a detailed simulation model which has been validated against the real s-bots in a companion paper in this same special issue. Keywords: Swarm robotics, swarm intelligence, swarm-bot, evolutionary robotics.
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