Skip navigation
User training | Reference and search service

Library catalog

Content aggregators
Please use this identifier to cite or link to this item:

Title: Evolution of collective behaviors for a real swarm of aquatic surface robots
Authors: Duarte, M.
Costa, V.
Gomes, J.
Rodrigues, T.
Silva, F.
Oliveira, S.
Christensen, A. L.
Issue Date: 2016
Publisher: Public Library of Science
Abstract: Swarm robotics is a promising approach for the coordination of large numbers of robots. While previous studies have shown that evolutionary robotics techniques can be applied to obtain robust and efficient self-organized behaviors for robot swarms, most studies have been conducted in simulation, and the few that have been conducted on real robots have been confined to laboratory environments. In this paper, we demonstrate for the first time a swarm robotics system with evolved control successfully operating in a real and uncontrolled environment. We evolve neural network-based controllers in simulation for canonical swarm robotics tasks, namely homing, dispersion, clustering, and monitoring. We then assess the performance of the controllers on a real swarm of up to ten aquatic surface robots. Our results show that the evolved controllers transfer successfully to real robots and achieve a performance similar to the performance obtained in simulation. We validate that the evolved controllers display key properties of swarm intelligence-based control, namely scalability, flexibility, and robustness on the real swarm. We conclude with a proof-of-concept experiment in which the swarm performs a complete environmental monitoring task by combining multiple evolved controllers.
Peer reviewed: yes
DOI: 10.1371/journal.pone.0151834
ISSN: 1932-6203
Accession number: WOS:000372694700069
Appears in Collections:IT-RI - Artigo em revista internacional com arbitragem científica

Files in This Item:
File Description SizeFormat 
journal_pone_0151834.PDFVersão Editora4.69 MBAdobe PDFView/Open

FacebookTwitterDeliciousLinkedInDiggGoogle BookmarksMySpace
Formato BibTex MendeleyEndnote Currículo DeGóis 

Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.