Utilize este identificador para referenciar este registo:
http://hdl.handle.net/10071/23306
Registo completo
Campo DC | Valor | Idioma |
---|---|---|
dc.contributor.author | Gomes, J. | - |
dc.contributor.author | Duarte, M. | - |
dc.contributor.author | Mariano, P. | - |
dc.contributor.author | Christensen, A. L. | - |
dc.contributor.editor | Handl, J., Hart, E., Lewis, P. R., López-Ibáñez, M., Ochoa, G., and Paechter, B. | - |
dc.date.accessioned | 2021-10-08T10:02:21Z | - |
dc.date.available | 2021-10-08T10:02:21Z | - |
dc.date.issued | 2016 | - |
dc.identifier.isbn | 978-3-319-45823-6 | - |
dc.identifier.uri | http://hdl.handle.net/10071/23306 | - |
dc.description.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. | eng |
dc.language.iso | eng | - |
dc.publisher | Springer | - |
dc.relation | info:eu-repo/grantAgreement/FCT/5876/147256/PT | - |
dc.relation | info:eu-repo/grantAgreement/FCT/5876/147328/PT | - |
dc.relation | info:eu-repo/grantAgreement/FCT/SFRH/SFRH%2FBD%2F89095%2F2012/PT | - |
dc.rights | openAccess | - |
dc.subject | Cooperative coevolution | eng |
dc.subject | Evolutionary robotics | eng |
dc.subject | Novelty search | eng |
dc.subject | Reality gap | eng |
dc.subject | Heterogeneous multirobot systems | eng |
dc.title | Cooperative coevolution of control for a real multirobot system | eng |
dc.type | conferenceObject | - |
dc.event.title | 14th International Conference on Parallel Problem Solving from Nature, PPSN 2016 | - |
dc.event.type | Conferência | pt |
dc.event.location | Edinburgh | eng |
dc.event.date | 2016 | - |
dc.pagination | 591 - 601 | - |
dc.peerreviewed | yes | - |
dc.journal | Parallel Problem Solving from Nature – PPSN XIV. Lecture Notes in Computer Science | - |
dc.volume | 9921 | - |
degois.publication.firstPage | 591 | - |
degois.publication.lastPage | 601 | - |
degois.publication.location | Edinburgh | eng |
degois.publication.title | Cooperative coevolution of control for a real multirobot system | eng |
dc.date.updated | 2021-10-08T11:01:34Z | - |
dc.description.version | info:eu-repo/semantics/acceptedVersion | - |
dc.identifier.doi | 10.1007/978-3-319-45823-6_55 | - |
iscte.identifier.ciencia | https://ciencia.iscte-iul.pt/id/ci-pub-31700 | - |
Aparece nas coleções: | IT-CRI - Comunicações a conferências internacionais |
Ficheiros deste registo:
Ficheiro | Descrição | Tamanho | Formato | |
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conferenceobject_31700.pdf | Versão Aceite | 855,36 kB | Adobe PDF | Ver/Abrir |
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