Please use this identifier to cite or link to this item:
Author(s): Romano, P.
Nunes, L.
Christensen, A. L.
Duarte, M.
Oliveira, S.
Editor: Luís Paulo Reis, António Paulo Moreira, Pedro U. Lima, Luis Montano, Victor Muñoz-Martinez
Date: 2015
Title: Genome variations: Effects on the robustness of neuroevolved control for swarm robotics systems
Volume: 1
ISSN: 2194-5357
ISBN: 9783319271460
DOI (Digital Object Identifier): 10: 10.1007/978-3-319-27146-0_24
Keywords: Neuroevolution
Robot controllers
Genome variations
Swarm robotics
Abstract: Manual design of self-organized behavioral control for swarms of robots is a complex task. Neuroevolution has proved a viable alternative given its capacity to automatically synthesize controllers. In this paper, we introduce the concept of Genome Variations (GV) in the neuroevolution of behavioral control for robotic swarms. In an evolutionary setup with GV, a slight mutation is applied to the evolving neural network parameters before they are copied to the robots in a swarm. The genome variation is individual to each robot, thereby generating a slightly heterogeneous swarm. GV represents a novel approach to the evolution of robust behaviors, expected to generate more stable and robust individual controllers, and bene t swarm behaviors that can deal with small heterogeneities in the behavior of other members in the swarm. We conduct experiments using an aggregation task, and compare the evolved solutions to solutions evolved under ideal, noise-free conditions, and to solutions evolved with traditional sensor noise.
Peerreviewed: yes
Access type: Open Access
Appears in Collections:ISTAR-CRI - Comunicações a conferências internacionais

Files in This Item:
File Description SizeFormat 
conferenceobject_28868.pdfVersão Aceite290,41 kBAdobe PDFView/Open

FacebookTwitterDeliciousLinkedInDiggGoogle BookmarksMySpaceOrkut
Formato BibTex mendeley Endnote Logotipo do DeGóis Logotipo do Orcid 

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