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1

Engineering Department, Griffith Textile Machines, Washington NE38 8QA, UK

2

Department of Information Systems Design, Doshisha University, Kyotanabe 610-0321, Japan





*

Authors to whom correspondence should be addressed.



Abstract Swarming and modular robotic locomotion are two disconnected behaviours that a group of small homogeneous robots can be used to achieve. The use of these two behaviours is a popular subject in robotics research involving search, rescue and exploration. However, they are rarely addressed as two behaviours that can coexist within a single robotic system. Here, we present a bio-inspired decision mechanism, which provides a convenient way for evolution to configure the conditions and timing of behaving as a swarm or a modular robot in an exploration scenario. The decision mechanism switches among two behaviours that are previously developed a pheromone-based swarm control and a sinusoidal rectilinear modular robot movement. We use Genetic Programming GP to evolve the controller for these decisions, which acts without a centralized mechanism and with limited inter-robot communication. The results show that the proposed bio-inspired decision mechanism provides an evolvable medium for the GP to utilize in evolving an effective decision-making mechanism. View Full-Text

Keywords: collective robotics; modular robotics; swarm robotics; hormone-inspired; XGP; Genetic Programming; reconfigurable robotics; pheromone-inspired collective robotics; modular robotics; swarm robotics; hormone-inspired; XGP; Genetic Programming; reconfigurable robotics; pheromone-inspired





Autor: Tüze Kuyucu 1,* , Ivan Tanev 2,* and Katsunori Shimohara 2

Fuente: http://mdpi.com/



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