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8th Annual Genetic and evolutionary Computation Conference

作者： Yanase, Toshihiko Iba, Hitoshi Univ Tokyo Dept Frontier Informat Chiba 2778561 Japan

ISBN: (纸本)9781595931863

We propose a new approach to generating the motion of humanoid robots intuitively by means of Interactive evolutionary Computation (IEC). In our system, novice users are able to design effective motions through the subjective evaluation of displayed individuals, even if they do not have any technical knowledge. The motions evolved by the IEC system are not necessarily stable nor feasible in real environments. Thus, appropriate adjustments are required to revise the motions. For this purpose, we use a real-valued CA in a dynamic simulator. We empirically show the effectiveness of our approach by designing a kick motion for a humanoid robot.

关键词： humanoid robot motion design multi-objective CA evolutionary robotics interactive evolutionary computation

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Cooperation Through Self-Assembly in Multi-Robot Systems

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ACM TRANSACTIONS ON AUTONOMOUS AND ADAPTIVE SYSTEMS 2006年第2期1卷 115-150页

作者： Tuci, Elio Gross, Roderich Trianni, Vito Mondada, Francesco Bonani, Michael Dorigo, Marco Univ Libre Bruxelles IRIDIA Brussels Belgium Ecole Polytech Fed Lausanne STI ASL LSAI2S CH-1015 Lausanne Switzerland

This article illustrates the methods and results of two sets of experiments in which a group of mobile robots, called s-bots, are required to physically connect to each other, that is, to self-assemble, to cope with environmental conditions that prevent them from carrying out their task individually. The first set of experiments is a pioneering study on the utility of self-assembling robots to address relatively complex scenarios, such as cooperative object transport. The results of our work suggest that the s-bots possess hardware characteristics which facilitate the design of control mechanisms for autonomous self-assembly. The control architecture we developed proved particularly successful in guiding the robots engaged in the cooperative transport task. However, the results also showed that some features of the robots' controllers had a disruptive effect on their performances. The second set of experiments is an attempt to enhance the adaptiveness of our multi-robot system. In particular, we aim to synthesise an integrated (i.e., not-modular) decision-making mechanism which allows the s-bot to autonomously decide whether or not environmental contingencies require self-assembly. The results show that it is possible to synthesize, by using evolutionary computation techniques, artificial neural networks that integrate both the mechanisms for sensory-motor coordination and for decision making required by the robots in the context of self-assembly.

关键词： Algorithms Swarm robotics evolutionary robotics self-assembly artificial neural networks evolutionary algorithms swarm intelligence

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The balance between initial training and lifelong adaptation in evolving robot controllers

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IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART B-CYBERNETICS 2006年第2期36卷 423-432页

作者： Walker, Joanne H. Garrett, Simon M. Wilson, Myra S. Univ Wales Dept Comp Sci Aberystwyth SY23 3DB Dyfed Wales

A central aim of robotics research is to design robots that can perform in the real world;a real world that is often highly changeable in nature. An important challenge for researchers is therefore to produce robots that can improve their performance when the environment is stable, and adapt when the environment changes. This paper reports on experiments which show how evolutionary methods can provide lifelong adaptation for robots, and how this evolutionary process was embodied on the robot itself. A unique combination of training and lifelong adaptation are used, and this paper highlights the importance of training to this approach.

关键词： evolution strategy evolutionary robotics genetic algorithm lifelong adaptation training

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Multi-robot cooperation-based mobile printer system

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robotics AND AUTONOMOUS SYSTEMS 2006年第3期54卷 193-204页

作者： Lee, KH Kim, JH Korea Adv Inst Sci & Technol Dept Elect Engn & Comp Sci Taejon 305701 South Korea

This paper proposes a mobile printer system (MPS) based on multi-robot cooperation. The system consists of multiple mobile robots. a wireless LAN system, a graphic user interface (GUI), and a host computer. The GUI comprises a user input section, a task allocation optimization section, and a control and Communication section. Its operation is as follows: a user draws a picture oil all input window of the GUI, and then the host Computer commands client printer-robots to reproduce the same oil a paper in a finite time. To control multiple robots during this process, two kinds of multi-robot control architectures along with a collision-free arbitration configuration are proposed. One is a decentralized control architecture, which employs subsumption architecture based on behavior-based robotics. The robots continue to seek the nearest line and to draw it repeatedly until all lines are drawn. This architecture needs no pre-planning and is fault-tolerant. Another is a centralized control architecture, which employs an evolutionary algorithm (EA). The host computer optimizes the task (finding time-optimal path) allocation for each robot by using all evolutionary algorithm and sends the optimized job sequence to the robots. To minimize the elapsed time in drawing all the lines, an evolutionary algorithm with a representation of an individual Suitable for the MPS is employed for the task optimization. This architecture call minimize the elapsed time effectively and offers the option of distance-optimality in addition to time-optimality. The proposed architectures are simulated and real experiments with three omni-directional robots are carried out to demonstrate the effectiveness and the applicability of the proposed mobile printer system. (C) 2005 Elsevier B.V. All rights reserved.

关键词： mobile printer multi-robot cooperation system multi-agent system evolutionary robotics behavior-based robotics

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Self-organisation and communication in groups of simulated and physical robots

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BIOLOGICAL CYBERNETICS 2006年第3期95卷 213-231页

作者： Trianni, Vito Dorigo, Marco Univ Libre Bruxelles IRIDIA B-1050 Brussels Belgium

In social insects, both self-organisation and communication play a crucial role for the accomplishment of many tasks at a collective level. Communication is performed with different modalities, which can be roughly classified into three classes: indirect (stigmergic) communication, direct interactions and direct communication. The use of stigmergic communication is predominant in social insects (e.g. the pheromone trails in ants), where, however, direct interactions (e.g. antennation in ants) and direct communication (e.g. the waggle dance in honey bees) can also be observed. Taking inspiration from insect societies, we present an experimental study of self-organising behaviours for a group of robots, which exploit communication to coordinate their activities. In particular, the robots are placed in an arena presenting holes and open borders, which they should avoid while moving coordinately. Artificial evolution is responsible for the synthesis in a simulated environment of the robot's neural controllers, which are subsequently tested on physical robots. We study different communication strategies among the robots: no direct communication, handcrafted signalling and a completely evolved approach. We show that the latter is the most efficient, suggesting that artificial evolution can produce behaviours that are more adaptive than those obtained with conventional design methodologies. Moreover, we show that the evolved controllers produce a self-organising system that is robust enough to be tested on physical robots, notwithstanding the huge gap between simulation and reality.

关键词： swarm robotics evolutionary robotics self-organisation swarm intelligence swarm-bot

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Pseudo-passive dynamic walkers designed by coupled evolution of the controller and morphology

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robotics AND AUTONOMOUS SYSTEMS 2006年第8期54卷 674-685页

作者： Matsushita, Kojiro Yokoi, Hiroshi Arai, Tamio Univ Tokyo Dept Precis Engn Bunkyo Ku Tokyo 1138656 Japan

In this paper we investigated the morphology and controller of biped robots. We viewed them as design components that together can induce dynamically stable bipedal locomotion. We conducted coupled evolution of the morphology and controller of a biped robot, consisting of nine links and eight joints, actuated by oscillators without sensor feedback in three-dimensional simulation. As a result, both pseudo-passive dynamic walkers and active-control walkers emerged, but the pseudo-passive dynamic walkers showed more dynamic stability than the active-control walkers. This is because compliant components in morphology function as noise filters and passive oscillators. Analysis on this latter class of walkers revealed that this was achieved by two novel functions: self-stabilization and self-regulation. Because these functions were handled by the passive dynamics induced in the robot morphology, due to its compliance, we concluded that a computational trade-off between the controller and morphology occurs in these devices. Finally, we have concluded that appropriate compliance is a key to achieving dynamical stability during locomotion. (c) 2006 Elsevier B.V. All rights reserved.

关键词： bipedal locomotion evolutionary robotics morphological computation passive dynamic walker

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Exploring coevolutionary relations by alterations in fitness function: Experiments with simulated robots

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JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS 2006年第3期47卷 257-284页

作者： Mermigkis, Ioannis Petrou, Loukas Aristotle Univ Thessaloniki Fac Engn Dept Elect & Comp Engn Div Elect & Comp Engn GR-54124 Thessaloniki Greece

This paper focuses on various coevolutionary robotic experiments where all parameters except for the fitness function remain the same. Initially an attempt to categorize coevolutionary experiments is made and subsequently three experiments of competitive coevolution (hunt, battle and mating) are presented. The experiment concerning implicit competition of two species (mating) is given special attention as it shows emergence of compromise and collaboration through a competitive environment. The co-evolution progress monitoring is evaluated through fitness graphs, CIAO and Hamming maps and the results are interpreted for each experimental setup. The paper concludes that despite the alteration of fitness functions, several evasion-pursuit elements emerge. Furthermore, conciliatory strategies can emerge in implicit competitional cases.

关键词： coevolutionary relations competitive coevolution evolution of collaboration evolutionary robotics

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Cooperative hole avoidance in a swarm-bot

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robotics AND AUTONOMOUS SYSTEMS 2006年第2期54卷 97-103页

作者： Trianni, V Nolfi, S Dorigo, M Univ Libre Bruxelles IRIDIA Brussels Belgium CNR Inst Cognit Sci & Technol Rome Italy

In this paper, we Study coordinated motion in a swarm robotic system, called a swarm-bot. A swann-bot is a self-assembling and self-organising artifact, composed of a swarm of s-bots, mobile robots with the ability to connect to and disconnect from each other. The swann-bot concept is particularly suited for tasks that require all-terrain navigation abilities, such as space exploration or rescue in collapsed buildings. As a first step toward the development of more complex control strategies, we investigate the case in which a swarm-bot has to explore an arena while avoiding falling into holes. In such a scenario, individual s-bots have sensory-motor limitations that prevent them navigating efficiently. These limitations can be overcome if the s-bots are made to cooperate. In particular, we exploit the s-bots' ability to physically connect to each other. In order to synthesise the s-bots' controller, we rely on artificial evolution, which we show to be a powerful tool for the production of simple and effective solutions to the hole avoidance task. (c) 2005 Elsevier B.V. All rights reserved.

关键词： evolutionary robotics swarm intelligence swarm robotics swarm-bot

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Cooperative hole avoidance in a swarm-bot

Cooperative hole avoidance in a <i>swarm-bot</i>

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8th Conference on Intelligent Autonomous Systems (IAS-8)

作者： Trianni, V Nolfi, S Dorigo, M Univ Libre Bruxelles IRIDIA Brussels Belgium CNR Inst Cognit Sci & Technol Rome Italy

关键词： evolutionary robotics swarm intelligence swarm robotics swarm-bot

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Modular creation of neuronal networks for autonomous robot control

Modular creation of neuronal networks for autonomous robot c...

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3rd IEEE Latin American robotics Symposium

作者： Massa, German L. Osella Vinuesa, Hernan Lanzarini, Laura Natl Univ La Plata Fac Informat Inst Res Informat LIDI RA-1900 La Plata Buenos Aires Argentina

ISBN: (纸本)9781424405367

In general, complex control tasks can be solved by dividing them into simpler ones which are easier to handle. Several authors have developed different solutions that combine Layer Evolution techniques with Evolving Neural Networks, giving rise to controllers made up by several networks. In this type of solution, the selection of the module to be used in each case is not an easy problem to solve. This paper is focused on the presentation of a new evolving mechanism that allows combining the modules which solve the different parts of a problem, giving place to a single recurrent neural network. In this way, simple modules which are trained independently of the problem to solve are used. The communication among them is established by evolution, which gives rise to a single neural network representing the expected solution. The proposed method in this paper has been used to solve the problem of obstacle evasion and target reaching using a Khepera II robot. The tests carried out, both In the simulated environment and over the real robot, have yielded really successful results.

关键词： evolving neural networks evolutionary robotics layer evolution

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