Consiglio Nazionale delle Ricerche

Tipo di prodottoArticolo in rivista
TitoloEvolving Self-Assembly in Autonomous Homogeneous Robots: Experiments with Two Physical Robots
Anno di pubblicazione2009
  • Elettronico
  • Cartaceo
Autore/iAmpatzis, C., Tuci, E., Trianni, V., Christensen, A. L. and Dorigo, M.
Affiliazioni autoriUniversité Libre de Bruxelles, Belgio; ISTC-CNR
Autori CNR e affiliazioni
  • inglese
AbstractThis research work illustrates an approach to the design of controllers for self-assembling robots in which the self-assembly is initiated and regulated by perceptual cues that are brought forth by the physical robots through their dynamic interactions. More specifically, we present a homogeneous control system that can achieve assembly between two modules (two fully autonomous robots) of a mobile self-reconfigurable system without a priori introduced behavioral or morphological heterogeneities. The controllers are dynamic neural networks evolved in simulation that directly control all the actuators of the two robots. The neurocontrollers cause the dynamic specialization of the robots by allocating roles between them based solely on their interaction. We show that the best evolved controller proves to be successful when tested on a real hardware platform, the swarm-bot. The performance achieved is similar to the one achieved by existing modular or behavior-based approaches, also due to the effect of an emergent recovery mechanism that was neither explicitly rewarded by the fitness function, nor observed during the evolutionary simulation. Our results suggest that direct access to the orientations or intentions of the other agents is not a necessary condition for robot coordination: Our robots coordinate without direct or explicit communication, contrary to what is assumed by most research work in collective robotics. This work also contributes to strengthening the evidence that evolutionary robotics is a design methodology that can tackle real-world tasks demanding fine sensory-motor coordination.
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RivistaArtificial life
Attiva dal 1994
Editore: MIT Press, - Cambridge, MA
Paese di pubblicazione: Stati Uniti d'America
Lingua: inglese
ISSN: 1064-5462
Titolo chiave: Artificial life
Titolo proprio: Artificial life.
Titolo abbreviato: Artif. life
Numero volume della rivista15(4)
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Strutture CNR
  • ISTC — Istituto di scienze e tecnologie della cognizione
Moduli/Attività/Sottoprogetti CNR
  • ICT.P08.006.001 : Tecnologie avanzate per l'interazione uomo, robot ed agenti intelligenti
Progetti Europei-

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Area disciplinareInformation Technology & Communications Systems
Area valutazione CIVRIngegneria industriale e informatica