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Istituto di scienze e tecnologie della cognizione

Torna all'elenco Contributi in rivista anno 2014

Contributo in rivista

Tipo: Articolo in rivista

Titolo: AutoMoDe: A novel approach to the automatic design of control software for robot swarms

Anno di pubblicazione: 2014

Formato: Elettronico Cartaceo

Autori: Francesca, Gianpiero; Brambilla, Manuele; Brutschy, Arne; Trianni, Vito; Birattari, Mauro

Affiliazioni autori: Université Libre de Bruxelles; ISTC CNR

Autori CNR:

  • VITO TRIANNI

Lingua: inglese

Abstract: We introduce AutoMoDe: a novel approach to the automatic design of control software for robot swarms. The core idea in AutoMoDe recalls the approach commonly adopted in machine learning for dealing with the bias-variance tradedoff: to obtain suitably general solutions with low variance, an appropriate design bias is injected. AutoMoDe produces robot control software by selecting, instantiating, and combining preexisting parametric modules-the injected bias. The resulting control software is a probabilistic finite state machine in which the topology, the transition rules and the values of the parameters are obtained automatically via an optimization process that maximizes a task-specific objective function. As a proof of concept, we define AutoMoDe-Vanilla, which is a specialization of AutoMoDe for the e-puck robot. We use AutoMoDe-Vanilla to design the robot control software for two different tasks: aggregation and foraging. The results show that the control software produced by AutoMoDe-Vanilla (i) yields good results, (ii) appears to be robust to the so called reality gap, and (iii) is naturally human-readable.

Lingua abstract: inglese

Pagine da: 89

Pagine a: 112

Pagine totali: 24

Rivista:

Swarm intelligence Springer Science + Business Media Inc.
Paese di pubblicazione: Stati Uniti d'America
Lingua: inglese
ISSN: 1935-3812

Numero volume: 8

Numero fascicolo: 2

DOI: 10.1007/s11721-014-0092-4

Referee: Sì: Internazionale

Indicizzato da: ISI Web of Science (WOS) [000338318600001]

Parole chiave:

  • Swarm robotics
  • Automatic design
  • AutoMoDe
  • Evolutionary robotics

Strutture CNR:

Moduli:

Allegati: AutoMoDe: A novel approach to the automatic design of control software for robot swarms (application/pdf)

 
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