Evolving aggregation behaviors in a swarm of robots

Date

2003-01-01

Author

Trianni, V
Gross, R
Labella, TH
Şahin, Erol
Dorigo, M

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In this paper, we study aggregation in a swarm of simple robots, called s-bots, having the capability to self-organize and self-assemble to form a robotic system, called a swarm-bot. The aggregation process, observed in many biological systems, is of fundamental importance since it is the prerequisite for other forms of cooperation that involve self-organization and self-assembling. We consider the problem of defining the control system for the swarm-bot using artificial evolution. The results obtained in a simulated 3D environment are presented and analyzed. They show that artificial evolution, exploiting the complex interactions among s-bots and between s-bots and the environment, is able to produce simple but general solutions to the aggregation problem.

Subject Keywords

Group Size , Mobile Robot , Swarm Intelligence , Dictyostelium Discoideum , Neural Controller

URI

https://hdl.handle.net/11511/55654
https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=7444252985&origin=inward

Journal

ADVANCES IN ARTIFICIAL LIFE, PROCEEDINGS

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Department of Computer Engineering, Article

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Evolving self-organizing behaviors for a swarm-bot Dorigo, M; Trianni, V; Şahin, Erol; Gross, R; Labella, TH; Baldassarre, G; Nolfi, S; Deneubourg, JL; Mondada, F; Floreano, D; Gambardella, LM (2004-09-01) In this paper, we introduce a self-assembling and self-organizing artifact, called a swarm-bot, composed of a swarm of s-bots, mobile robots with the ability to connect to and to disconnect from each other. We discuss the challenges involved in controlling a swarm-bot and address the problem of synthesizing controllers for the swarm-bot using artificial evolution. Specifically, we study aggregation and coordinated motion of the swarm-bot using a physics-based simulation of the system. Experiments, using a s...
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Citation Formats

V. Trianni, R. Gross, T. Labella, E. Şahin, and M. Dorigo, “Evolving aggregation behaviors in a swarm of robots,” ADVANCES IN ARTIFICIAL LIFE, PROCEEDINGS, pp. 865–874, 2003, Accessed: 00, 2020. [Online]. Available: https://hdl.handle.net/11511/55654.