Evolutionary swarm robotics: evolving self-organising behaviours in groups of autonomous robots ; with 12 tables
Gespeichert in:
| 1. Verfasser: | |
|---|---|
| Format: | Buch |
| Sprache: | English |
| Veröffentlicht: |
Berlin ; Heidelberg
Springer
2008
|
| Schriftenreihe: | Studies in computational intelligence
108 |
| Schlagworte: | |
| Online-Zugang: | Inhaltsverzeichnis Inhaltsverzeichnis |
| Beschreibung: | Literaturverz. S. 173 - 189 |
| Beschreibung: | XIII, 188 S. Ill., graph. Darst. |
| ISBN: | 9783540776116 |
Internformat
MARC
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| 245 | 1 | 0 | |a Evolutionary swarm robotics |b evolving self-organising behaviours in groups of autonomous robots ; with 12 tables |c Vito Trianni |
| 264 | 1 | |a Berlin ; Heidelberg |b Springer |c 2008 | |
| 300 | |a XIII, 188 S. |b Ill., graph. Darst. | ||
| 336 | |b txt |2 rdacontent | ||
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| 500 | |a Literaturverz. S. 173 - 189 | ||
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Datensatz im Suchindex
| _version_ | 1804138014331371520 |
|---|---|
| adam_text | Contents
Part I The Evolution of Self-Organization
Introduction
............................................... 3
Embodied Cognitive Science
............................... 7
2.1
Back to the Origins: Artificial Intelligence and Cybernetics
... 7
2.2
Artificial Intelligence: From Dawn to Dusk
.................. 9
2.3
Connectionism: The Refusal of Symbols
.................... 13
2.4
Behaviour-Based Robotics: The Importance of Being
in the World
........................................... 14
2.5
Embodied Cognitive Science: Embodiment and Autopoiesis
... 16
2.6
Autopoiesis from Cells to Societies
......................... 19
Multi-Robot Systems, Swarm Robotics
and Self-Organisation
...................................... 23
3.1
The Many Flavours of
Multi-
Robot Systems
................ 24
3.1.1
Collective Robotics
................................ 24
3.1.2
Second-Order Robotics
............................. 29
3.1.2.1
Self-Reconfigurable Robots
.................. 29
3.1.2.2
Self-Assembling Robots
..................... 31
3.1.3
Swarm Robotics
................................... 33
3.2
Features and Challenges of Swarm Robotics
................. 39
3.2.1
Decentralisation
................................... 40
3.2.2
Locality and Stigmergy
............................ 40
3.2.3
Flexibility and Robustness
......................... 41
3.2.4
Emergence
....................................... 42
3.3
A Close Look to Self-Organisation
......................... 43
Evolutionary Robotics for Self-Organising Behaviours
47
4.1
The Design Problem
..................................... 48
4.2
Why Evolutionary Robotics?
.............................. 50
VIII Contents
4.3
Collective
Evolutionary
Robotics
in the Literature
........... 52
4.4
A Case-Study: Evolving Self-Organised Aggregation
......... 54
4.4.1
Experimental Setup
............................... 55
4.4.2
Results
........................................... 57
4.5
Summary
............................................... 58
Part II Experiments with Simulated and Real Robots
5
A Self-Organising Artefact: The Swarm-bot
................ 63
5.1
The S-bot
.............................................. 63
5.2
Related Literature
....................................... 68
6
Coordinated Motion
....................................... 73
6.1
Related Work
........................................... 74
6.2
Evolution of Coordinated Motion Behaviours
............... 75
6.2.1
The Neural Controllers and the Evolutionary Algorithm
75
6.2.2
Fitness Evaluation
................................. 77
6.3
Results
................................................. 78
6.3.1
Results in Simulation
.............................. 78
6.3.2
The Front Inversion Mechanism
..................... 81
6.3.3
Issues in Porting on Physical S-bots
.................. 84
6.4
Testing with Real Robots
................................. 85
6.4.1
Testing with Swarm-bots in Simulation and in Reality.
. 85
6.4.2
Testing with Swarm-bots Moving over Rough Terrain
.. 86
6.4.3
Testing with Swarm-bots of Larger Sizes
.............. 88
6.4.4
Testing with Swarm-Ms of Different Shapes
.......... 88
6.4.5
Testing with Swarm-bots Having Semi-rigid Links
..... 90
6.4.6
Testing with Swarm-bots Carrying an Object
......... 92
6.5
Conclusions
............................................. 93
7
Hole Avoidance
............................................ 97
7.1
A Glance at Insect Societies
.............................. 98
7.2
From Insects to Robots
..................................100
7.3
Evolution of Hole Avoidance Behaviours
....................101
7.3.1
Experimental Setup
...............................102
7.3.2
The Neural Controllers and the Evolutionary Algorithm
103
7.3.3
Fitness Evaluation
.................................105
7.4
Results
.................................................107
7.4.1
Behavioural Analysis
..............................107
7.4.2
Quantitative Analysis
..............................110
7.5
Transfer on Physical S-bots
...............................112
7.5.1
Selection of the Controllers
.........................113
7.5.2
Results
...........................................114
7.6
Conclusions
.............................................117
Contents
IX
Self-Organising
Synchronisation ...........................119
8.1
Experimental
Setup......................................121
8.1.1 The Controller
and the Evolutionary Algorithm
.......122
8.1.2
The Fitness Computation
..........................122
8.2
Results
.................................................124
8.2.1
Scalability of the Evolved Behaviours
................128
8.2.2
Scalability of the Synchronisation Mechanism
.........129
8.3
Tests with Physical Robots
...............................130
8.4
Conclusions
.............................................131
Part III Future Directions
9
Emergent Collective Decisions through Self-Organisation
.. 137
9.1
Avoid Holes or Bridge Them Over
.........................138
9.1.1
Experimental Setup
...............................139
9.1.2
Results
...........................................140
9.2
Emergent Collective Decisions
.............................143
9.3
Conclusions
.............................................144
10
Decision-Making Mechanisms through the Perception
of Time
....................................................147
10.1
Description of the task
...................................148
10.2
Related work
...........................................149
10.3
Experimental Setup
......................................150
10.3.1
The Evolutionary Algorithm
........................151
10.3.2
The Evaluation Function
...........................152
10.4
Evolving Time-Dependent Decision Making
.................153
10.5
Further Insights in Time-Dependent Decision Making
........157
10.6
Conclusions
.............................................159
11
Decision Making and Cooperation
.........................161
11.1
The Task
...............................................162
11.1.1
Experimental Setup
...............................163
11.1.2
The Controller and The Evolutionary Algorithm
......164
11.1.3
The Evaluation Function
...........................166
11.2
Results
.................................................167
11.3
Conclusions
.............................................170
12
Conclusions
................................................171
References
.....................................................173
|
| adam_txt |
Contents
Part I The Evolution of Self-Organization
Introduction
. 3
Embodied Cognitive Science
. 7
2.1
Back to the Origins: Artificial Intelligence and Cybernetics
. 7
2.2
Artificial Intelligence: From Dawn to Dusk
. 9
2.3
Connectionism: The Refusal of Symbols
. 13
2.4
Behaviour-Based Robotics: The Importance of "Being
in the World"
. 14
2.5
Embodied Cognitive Science: Embodiment and Autopoiesis
. 16
2.6
Autopoiesis from Cells to Societies
. 19
Multi-Robot Systems, Swarm Robotics
and Self-Organisation
. 23
3.1
The Many Flavours of
Multi-
Robot Systems
. 24
3.1.1
Collective Robotics
. 24
3.1.2
Second-Order Robotics
. 29
3.1.2.1
Self-Reconfigurable Robots
. 29
3.1.2.2
Self-Assembling Robots
. 31
3.1.3
Swarm Robotics
. 33
3.2
Features and Challenges of Swarm Robotics
. 39
3.2.1
Decentralisation
. 40
3.2.2
Locality and Stigmergy
. 40
3.2.3
Flexibility and Robustness
. 41
3.2.4
Emergence
. 42
3.3
A Close Look to Self-Organisation
. 43
Evolutionary Robotics for Self-Organising Behaviours
47
4.1
The Design Problem
. 48
4.2
Why Evolutionary Robotics?
. 50
VIII Contents
4.3
Collective
Evolutionary
Robotics
in the Literature
. 52
4.4
A Case-Study: Evolving Self-Organised Aggregation
. 54
4.4.1
Experimental Setup
. 55
4.4.2
Results
. 57
4.5
Summary
. 58
Part II Experiments 'with Simulated and Real Robots
5
A Self-Organising Artefact: The Swarm-bot
. 63
5.1
The S-bot
. 63
5.2
Related Literature
. 68
6
Coordinated Motion
. 73
6.1
Related Work
. 74
6.2
Evolution of Coordinated Motion Behaviours
. 75
6.2.1
The Neural Controllers and the Evolutionary Algorithm
75
6.2.2
Fitness Evaluation
. 77
6.3
Results
. 78
6.3.1
Results in Simulation
. 78
6.3.2
The Front Inversion Mechanism
. 81
6.3.3
Issues in Porting on Physical S-bots
. 84
6.4
Testing with Real Robots
. 85
6.4.1
Testing with Swarm-bots in Simulation and in Reality.
. 85
6.4.2
Testing with Swarm-bots Moving over Rough Terrain
. 86
6.4.3
Testing with Swarm-bots of Larger Sizes
. 88
6.4.4
Testing with Swarm-Ms of Different Shapes
. 88
6.4.5
Testing with Swarm-bots Having Semi-rigid Links
. 90
6.4.6
Testing with Swarm-bots Carrying an Object
. 92
6.5
Conclusions
. 93
7
Hole Avoidance
. 97
7.1
A Glance at Insect Societies
. 98
7.2
From Insects to Robots
.100
7.3
Evolution of Hole Avoidance Behaviours
.101
7.3.1
Experimental Setup
.102
7.3.2
The Neural Controllers and the Evolutionary Algorithm
103
7.3.3
Fitness Evaluation
.105
7.4
Results
.107
7.4.1
Behavioural Analysis
.107
7.4.2
Quantitative Analysis
.110
7.5
Transfer on Physical S-bots
.112
7.5.1
Selection of the Controllers
.113
7.5.2
Results
.114
7.6
Conclusions
.117
Contents
IX
Self-Organising
Synchronisation .119
8.1
Experimental
Setup.121
8.1.1 The Controller
and the Evolutionary Algorithm
.122
8.1.2
The Fitness Computation
.122
8.2
Results
.124
8.2.1
Scalability of the Evolved Behaviours
.128
8.2.2
Scalability of the Synchronisation Mechanism
.129
8.3
Tests with Physical Robots
.130
8.4
Conclusions
.131
Part III Future Directions
9
Emergent Collective Decisions through Self-Organisation
. 137
9.1
Avoid Holes or Bridge Them Over
.138
9.1.1
Experimental Setup
.139
9.1.2
Results
.140
9.2
Emergent Collective Decisions
.143
9.3
Conclusions
.144
10
Decision-Making Mechanisms through the Perception
of Time
.147
10.1
Description of the task
.148
10.2
Related work
.149
10.3
Experimental Setup
.150
10.3.1
The Evolutionary Algorithm
.151
10.3.2
The Evaluation Function
.152
10.4
Evolving Time-Dependent Decision Making
.153
10.5
Further Insights in Time-Dependent Decision Making
.157
10.6
Conclusions
.159
11
Decision Making and Cooperation
.161
11.1
The Task
.162
11.1.1
Experimental Setup
.163
11.1.2
The Controller and The Evolutionary Algorithm
.164
11.1.3
The Evaluation Function
.166
11.2
Results
.167
11.3
Conclusions
.170
12
Conclusions
.171
References
.173 |
| any_adam_object | 1 |
| any_adam_object_boolean | 1 |
| author | Trianni, Vito |
| author_GND | (DE-588)135909937 |
| author_facet | Trianni, Vito |
| author_role | aut |
| author_sort | Trianni, Vito |
| author_variant | v t vt |
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| bvnumber | BV035067491 |
| classification_rvk | ST 300 ST 308 |
| ctrlnum | (OCoLC)635158216 (DE-599)BVBBV035067491 |
| dewey-full | 629.89263 |
| dewey-hundreds | 600 - Technology (Applied sciences) |
| dewey-ones | 629 - Other branches of engineering |
| dewey-raw | 629.89263 |
| dewey-search | 629.89263 |
| dewey-sort | 3629.89263 |
| dewey-tens | 620 - Engineering and allied operations |
| discipline | Maschinenbau / Maschinenwesen Informatik Mess-/Steuerungs-/Regelungs-/Automatisierungstechnik / Mechatronik |
| discipline_str_mv | Maschinenbau / Maschinenwesen Informatik Mess-/Steuerungs-/Regelungs-/Automatisierungstechnik / Mechatronik |
| format | Book |
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| id | DE-604.BV035067491 |
| illustrated | Illustrated |
| index_date | 2024-07-02T22:02:54Z |
| indexdate | 2024-07-09T21:21:27Z |
| institution | BVB |
| isbn | 9783540776116 |
| language | English |
| oai_aleph_id | oai:aleph.bib-bvb.de:BVB01-016735920 |
| oclc_num | 635158216 |
| open_access_boolean | |
| owner | DE-703 DE-522 DE-11 |
| owner_facet | DE-703 DE-522 DE-11 |
| physical | XIII, 188 S. Ill., graph. Darst. |
| publishDate | 2008 |
| publishDateSearch | 2008 |
| publishDateSort | 2008 |
| publisher | Springer |
| record_format | marc |
| series | Studies in computational intelligence |
| series2 | Studies in computational intelligence |
| spelling | Trianni, Vito Verfasser (DE-588)135909937 aut Evolutionary swarm robotics evolving self-organising behaviours in groups of autonomous robots ; with 12 tables Vito Trianni Berlin ; Heidelberg Springer 2008 XIII, 188 S. Ill., graph. Darst. txt rdacontent n rdamedia nc rdacarrier Studies in computational intelligence 108 Literaturverz. S. 173 - 189 Schwarmintelligenz (DE-588)4793676-9 gnd rswk-swf Selbst organisierendes System (DE-588)4054424-2 gnd rswk-swf Autonomer Roboter (DE-588)4304075-5 gnd rswk-swf Mehrrobotersystem (DE-588)4734038-1 gnd rswk-swf Evolutionärer Algorithmus (DE-588)4366912-8 gnd rswk-swf Mehrrobotersystem (DE-588)4734038-1 s Autonomer Roboter (DE-588)4304075-5 s Selbst organisierendes System (DE-588)4054424-2 s Schwarmintelligenz (DE-588)4793676-9 s Evolutionärer Algorithmus (DE-588)4366912-8 s DE-604 Studies in computational intelligence 108 (DE-604)BV020822171 108 http://d-nb.info/986833908/04 Inhaltsverzeichnis Digitalisierung UB Bayreuth application/pdf http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=016735920&sequence=000002&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA Inhaltsverzeichnis |
| spellingShingle | Trianni, Vito Evolutionary swarm robotics evolving self-organising behaviours in groups of autonomous robots ; with 12 tables Studies in computational intelligence Schwarmintelligenz (DE-588)4793676-9 gnd Selbst organisierendes System (DE-588)4054424-2 gnd Autonomer Roboter (DE-588)4304075-5 gnd Mehrrobotersystem (DE-588)4734038-1 gnd Evolutionärer Algorithmus (DE-588)4366912-8 gnd |
| subject_GND | (DE-588)4793676-9 (DE-588)4054424-2 (DE-588)4304075-5 (DE-588)4734038-1 (DE-588)4366912-8 |
| title | Evolutionary swarm robotics evolving self-organising behaviours in groups of autonomous robots ; with 12 tables |
| title_auth | Evolutionary swarm robotics evolving self-organising behaviours in groups of autonomous robots ; with 12 tables |
| title_exact_search | Evolutionary swarm robotics evolving self-organising behaviours in groups of autonomous robots ; with 12 tables |
| title_exact_search_txtP | Evolutionary swarm robotics evolving self-organising behaviours in groups of autonomous robots ; with 12 tables |
| title_full | Evolutionary swarm robotics evolving self-organising behaviours in groups of autonomous robots ; with 12 tables Vito Trianni |
| title_fullStr | Evolutionary swarm robotics evolving self-organising behaviours in groups of autonomous robots ; with 12 tables Vito Trianni |
| title_full_unstemmed | Evolutionary swarm robotics evolving self-organising behaviours in groups of autonomous robots ; with 12 tables Vito Trianni |
| title_short | Evolutionary swarm robotics |
| title_sort | evolutionary swarm robotics evolving self organising behaviours in groups of autonomous robots with 12 tables |
| title_sub | evolving self-organising behaviours in groups of autonomous robots ; with 12 tables |
| topic | Schwarmintelligenz (DE-588)4793676-9 gnd Selbst organisierendes System (DE-588)4054424-2 gnd Autonomer Roboter (DE-588)4304075-5 gnd Mehrrobotersystem (DE-588)4734038-1 gnd Evolutionärer Algorithmus (DE-588)4366912-8 gnd |
| topic_facet | Schwarmintelligenz Selbst organisierendes System Autonomer Roboter Mehrrobotersystem Evolutionärer Algorithmus |
| url | http://d-nb.info/986833908/04 http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=016735920&sequence=000002&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA |
| volume_link | (DE-604)BV020822171 |
| work_keys_str_mv | AT triannivito evolutionaryswarmroboticsevolvingselforganisingbehavioursingroupsofautonomousrobotswith12tables |
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