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Istituto di scienze e tecnologie della cognizione

Torna all'elenco Contributi in rivista anno 2011

Contributo in rivista

Tipo: Articolo in rivista

Titolo: Engineering the Evolution of Self-Organising Behaviours in Swarm Robotics: A Case Study

Anno di pubblicazione: 2011

Autori: Trianni, Vito ; Nolfi, Stefano

Affiliazioni autori: CNR-ISTC, Roma1-SanMartino

Autori CNR:

  • STEFANO NOLFI
  • VITO TRIANNI

Lingua: inglese

Abstract: Evolutionary Robotics (ER) is a powerful approach for the automatic synthesis of robot controllers, as it requires little a priori knowledge about the problem to be solved in order to obtain good solutions. This is particularly true for collective and swarm robotics, in which the desired behaviour of the group is an indirect result of the control and communication rules followed by each individual. However, the experimenter must make several arbitrary choices in setting up the evolutionary process, in order to define the correct selective pressures that can lead to the desired results. In some cases, only a deep understanding of the obtained results can point to the critical aspects that constrain the system, which can be later modified in order to re-engineer the evolutionary process towards better solutions. In this paper, we discuss the problem of engineering the evolutionary machinery that can lead to the desired result in the swarm robotics context. We also present a case study about self-organising synchronisation in a swarm of robots, in which some arbitrarily chosen properties of the communication system hinder the scalability of the behaviour to large groups. We show that by modifying the communication system, artificial evolution can synthesise behaviours that properly scale with the group size.

Lingua abstract: inglese

Pagine da: 183

Pagine a: 202

Rivista:

Artificial life MIT Press,
Paese di pubblicazione: Stati Uniti d'America
Lingua: inglese
ISSN: 1064-5462

Numero volume: 17

Numero fascicolo: 3

DOI: 10.1162/artl_a_00031

Parole chiave:

  • evolutionary robotics
  • swarm robotics
  • self-organisation
  • engineering emergence

URL: http://www.mitpressjournals.org/doi/abs/10.1162/artl_a_00031

Altre informazioni: ID_PUMA: /cnr.istc/2011-A0-071. - Rivista pubblicata anche online (ISSN 1530-9185). - Area di valutazione 09 - Ingegneria industriale e informatica

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