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Swarm Robotics Distributed Embodied Evolutionary Robotics Swarm Robotics Distributed Embodied Evolutionary Robotics (Evolutionary) Swarm Robotics: a gentle introduction Inaki˜ Fernandez´ Perez´ [email protected] www.loria.fr/˜fernandi ISAL Student Group ECAL 2017 September 8th 2017 Universite´ de Lorraine, LARSEN Team, Inria Nancy, France 1 / 10 Swarm Robotics Distributed Embodied Evolutionary Robotics So::: what is a robot swarm? Large/huge set of Focus in collective Real robots are cool::: simple agents dynamics but simulation works too! 2 / 10 Swarm Robotics Distributed Embodied Evolutionary Robotics So::: what is a robot swarm? Large/huge set of Focus in collective Real robots are cool::: simple agents dynamics but simulation works too! 2 / 10 Swarm Robotics Distributed Embodied Evolutionary Robotics Where to start::: many approaches By hand: ∼ engineering approach [Brambilla et al., 2013] Clones: classical EA with copies on each robot (homogeneous) [Tuci et al., 2008] Coevolution: either cooperative or competitive (heterogeneous) [Gomes et al., 2016] (distributed) Embodied Evolution runs onboard on each robot (heterogeneous) [Watson et al., 2002, Fernandez´ Perez´ et al., 2017] 3 / 10 Swarm Robotics Distributed Embodied Evolutionary Robotics What goals? ALife models to understand biology/test biological hypothesis ALife tools to build systems that can solve a problem for us 4 / 10 Swarm Robotics Distributed Embodied Evolutionary Robotics What robotic tasks? Navigation Flocking Item collection Foraging Shepherding ::: 5 / 10 Swarm Robotics Distributed Embodied Evolutionary Robotics Controllers? Artificial Neural Networks (all flavors) Finite State Machines Decision trees Force-field models ::: And evolution of morphology too! 6 / 10 Swarm Robotics Distributed Embodied Evolutionary Robotics Controllers? Artificial Neural Networks (all flavors) Finite State Machines Decision trees Force-field models ::: And evolution of morphology too! 6 / 10 Swarm Robotics Distributed Embodied Evolutionary Robotics Distributed Embodied Evolutionary Robotics EA on each robot Each robot runs its controller Controller broadcast in limited range Local selection and mutation Selection Variation Replacement 7 / 10 Swarm Robotics Distributed Embodied Evolutionary Robotics mEDEA [Bredeche` et al., 2012] ga random() while true do fa 0:0, l ; for t 1 to Te do exec(ga) Selection fa update fitness(ga) in the local list broadcast(ga; fa) l l S listen() S l l f(ga; fa)g ga mutate(select(l)) 8 / 10 Swarm Robotics Distributed Embodied Evolutionary Robotics mEDEA [Bredeche` et al., 2012] ga random() while true do fa 0:0, l ; for t 1 to Te do exec(ga) Selection fa update fitness(ga) in the local list broadcast(ga; fa) l l S listen() S l l f(ga; fa)g ga mutate(select(l)) 8 / 10 rebrand.ly/FernandezECAL2017 Swarm Robotics Distributed Embodied Evolutionary Robotics Take-home message Many open questions, many opportunities Collective dynamics are complex (but fun) Consider both ways of ALife (eng.,biol.) with robot swarms 10 / 10 ReferencesI Brambilla, M., Ferrante, E., Birattari, M., and Dorigo, M. (2013). Swarm robotics: a review from the swarm engineering perspective. Swarm Intelligence, 7(1):1–41. Bredeche,` N., Montanier, J.-M., Liu, W., and Winfield, A. (2012). Environment-driven Distributed Evolutionary Adaptation in a Population of Autonomous Robotic Agents. Mathematical and Computer Modelling of Dynamical Systems, 18(1):101–129. Fernandez´ Perez,´ I., Boumaza, A., and Charpillet, F. (2017). Learning Collaborative Foraging in a Swarm of Robots using Embodied Evolution. In ECAL 2017 – 14th European Conference on Artificial Life, Lyon, France. Inria. Gomes, J., Duarte, M., Mariano, P., and Christensen, A. L. (2016). Cooperative coevolution of control for a real multirobot system. In International Conference on Parallel Problem Solving from Nature, pages 591–601. Springer. 1 / 2 ReferencesII Tuci, E., Ampatzis, C., Vicentini, F., and Dorigo, M. (2008). Evolving homogeneous neurocontrollers for a group of heterogeneous robots: Coordinated motion, cooperation, and acoustic communication. Artificial Life, 14(2):157–178. Watson, R. A., Ficici, S. G., and Pollack, J. B. (2002). Embodied evolution: Distributing an evolutionary algorithm in a population of robots. Robotics and Autonomous Syst. Elsevier. 2 / 2.
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