Please use this identifier to cite or link to this item:
http://hdl.handle.net/10071/23306
Author(s): | Gomes, J. Duarte, M. Mariano, P. Christensen, A. L. |
Editor: | Handl, J., Hart, E., Lewis, P. R., López-Ibáñez, M., Ochoa, G., and Paechter, B. |
Date: | 2016 |
Title: | Cooperative coevolution of control for a real multirobot system |
Volume: | 9921 |
Pages: | 591 - 601 |
Event title: | 14th International Conference on Parallel Problem Solving from Nature, PPSN 2016 |
ISBN: | 978-3-319-45823-6 |
DOI (Digital Object Identifier): | 10.1007/978-3-319-45823-6_55 |
Keywords: | Cooperative coevolution Evolutionary robotics Novelty search Reality gap Heterogeneous multirobot systems |
Abstract: | The potential of cooperative coevolutionary algorithms (CCEAs) as a tool for evolving control for heterogeneous multirobot teams has been shown in several previous works. The vast majority of these works have, however, been confined to simulation-based experiments. In this paper, we present one of the first demonstrations of a real multirobot system, operating outside laboratory conditions, with controllers synthesised by CCEAs. We evolve control for an aquatic multirobot system that has to perform a cooperative predator-prey pursuit task. The evolved controllers are transferred to real hardware, and their performance is assessed in a non-controlled outdoor environment. Two approaches are used to evolve control: a standard fitness-driven CCEA, and novelty-driven coevolution. We find that both approaches are able to evolve teams that transfer successfully to the real robots. Novelty-driven coevolution is able to evolve a broad range of successful team behaviours, which we test on the real multirobot system. |
Peerreviewed: | yes |
Access type: | Open Access |
Appears in Collections: | IT-CRI - Comunicações a conferências internacionais |
Files in This Item:
File | Description | Size | Format | |
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conferenceobject_31700.pdf | Versão Aceite | 855,36 kB | Adobe PDF | View/Open |
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