Top

Published in:

2021 | OriginalPaper | Chapter

Automatic Modular Design of Behavior Trees for Robot Swarms with Communication Capabilites

Authors : Jonas Kuckling, Vincent van Pelt, Mauro Birattari

Published in: Applications of Evolutionary Computation

Publisher: Springer International Publishing

Activate our intelligent search to find suitable subject content or patents.

search-config

AI-assisted search

Off

Abstract

In this work, we develop a set of behavioral and conditional modules for the use with behavior trees. We present AutoMoDe-Cedrata, an automatic modular design method that automatically assembles and fine-tunes these modules into behavior trees that control robot swarms. We test Cedrata on three missions and, to gain further insights on its effectiveness, we design control software for the same missions using AutoMoDe-Maple, another automatic design method, and by a group of human designers. Results show that the proposed modules allow for well-performing behavior trees. Yet, Cedrata had difficulties automatically generating control software that performs similarly well as the one generated by human designers, especially when involving communication.

Dont have a licence yet? Then find out more about our products and how to get one now:

Springer Professional "Wirtschaft+Technik"

Online-Abonnement

Mit Springer Professional "Wirtschaft+Technik" erhalten Sie Zugriff auf:

über 102.000 Bücher
über 537 Zeitschriften

aus folgenden Fachgebieten:

Automobil + Motoren
Bauwesen + Immobilien
Business IT + Informatik
Elektrotechnik + Elektronik
Energie + Nachhaltigkeit
Finance + Banking
Management + Führung
Marketing + Vertrieb
Maschinenbau + Werkstoffe
Versicherung + Risiko

Jetzt Wissensvorsprung sichern!

inform now

Springer Professional "Technik"

Online-Abonnement

Mit Springer Professional "Technik" erhalten Sie Zugriff auf:

über 67.000 Bücher
über 390 Zeitschriften

aus folgenden Fachgebieten:

Automobil + Motoren
Bauwesen + Immobilien
Business IT + Informatik
Elektrotechnik + Elektronik
Energie + Nachhaltigkeit
Maschinenbau + Werkstoffe

Jetzt Wissensvorsprung sichern!

inform now

Springer Professional "Wirtschaft"

Online-Abonnement

Mit Springer Professional "Wirtschaft" erhalten Sie Zugriff auf:

über 67.000 Bücher
über 340 Zeitschriften

aus folgenden Fachgebieten:

Bauwesen + Immobilien
Business IT + Informatik
Finance + Banking
Management + Führung
Marketing + Vertrieb
Versicherung + Risiko

Jetzt Wissensvorsprung sichern!

inform now

previous chapter Evolutionary Grain-Mixing to Improve Profitability in Farming Winter Wheat

next chapter Salp Swarm Optimization Search Based Feature Selection for Enhanced Phishing Websites Detection

Birattari, M., et al.: Automatic off-line design of robot swarms: a manifesto. Front. Robot. AI 6, 59 (2019). https://doi.org/10.3389/frobt.2019.00059

Birattari, M., Ligot, A., Hasselmann, K.: Disentangling automatic and semi-automatic approaches to the optimization-based design of control software for robot swarms. Nature Mach. Intell. 2(9), 494–499 (2020). https://doi.org/10.1038/s42256-020-0215-0

Dorigo, M., Birattari, M.: Swarm intelligence. Scholarpedia 2(9), 1462 (2007). https://doi.org/10.4249/scholarpedia.1462

Dorigo, M., Birattari, M., Brambilla, M.: Swarm robotics. Scholarpedia 9(1), 1463 (2014). https://doi.org/10.4249/scholarpedia.1463

Francesca, G., et al.: AutoMoDe-chocolate: automatic design of control software for robot swarms. Swarm Intell. 9(2–3), 125–152 (2015). https://doi.org/10.1007/s11721-015-0107-9

Francesca, G., Brambilla, M., Brutschy, A., Trianni, V., Birattari, M.: AutoMoDe: a novel approach to the automatic design of control software for robot swarms. Swarm Intell. 8(2), 89–112 (2014). https://doi.org/10.1007/s11721-014-0092-4

Garzón Ramos, D., Birattari, M.: Automatic design of collective behaviors for robots that can display and perceive colors 10(13), 4654 (2020). https://doi.org/10.3390/app10134654

Hasselmann, K., Birattari, M.: Modular automatic design of collective behaviors for robots endowed with local communication capabilities. PeerJ Comput. Sci. 6, e291 (2020). https://doi.org/10.7717/peerj-cs.291

Hasselmann, K., et al.: Reference models for AutoMoDe. Technical report, TR/IRIDIA/2018-002, IRIDIA, Université libre de Bruxelles, Belgium (2018)

10.

Hasselmann, K., Robert, F., Birattari, M.: Automatic design of communication-based behaviors for robot swarms. In: Dorigo, M., Birattari, M., Blum, C., Christensen, A.L., Reina, A., Trianni, V. (eds.) ANTS 2018. LNCS, vol. 11172, pp. 16–29. Springer, Cham (2018). https://doi.org/10.1007/978-3-030-00533-7_2CrossRef

11.

Isla, D.: Handling complexity in the Halo 2 AI. In: Game Developers Conference. vol. 12 (2005)

12.

Jones, S., Studley, M., Hauert, S., Winfield, A.: Evolving behaviour trees for swarm robotics. In: Groß, R. (ed.) Distributed Autonomous Robotic Systems. SPAR, vol. 6, pp. 487–501. Springer, Cham (2018). https://doi.org/10.1007/978-3-319-73008-0_34CrossRef

13.

Jones, S., Winfield, A., Hauert, S., Studley, M.: Onboard evolution of understandable swarm behaviors. Adv. Intell. Syst. 1(6), 1900031 (2019). https://doi.org/10.1002/aisy.201900031

14.

Kirkpatrick, S., Gelatt, Jr., C.D., Vecchi, M.P.: Optimization by simulated annealing. Science 220(4598), 671–680 (1983). https://doi.org/10.1126/science.220.4598.671

15.

Kuckling, J., Ligot, A., Bozhinoski, D., Birattari, M.: Behavior trees as a control architecture in the automatic modular design of robot swarms. In: Dorigo, M., Birattari, M., Blum, C., Christensen, A.L., Reina, A., Trianni, V. (eds.) ANTS 2018. LNCS, vol. 11172, pp. 30–43. Springer, Cham (2018). https://doi.org/10.1007/978-3-030-00533-7_3CrossRef

16.

Kuckling, J., van Pelt, V., Birattari, M.: Automatic modular design of behavior trees with communication capabilities: supplementary material. http://iridia.ulb.ac.be/supp/IridiaSupp2020-011/ (2020)

17.

Kuckling, J., Stützle, T., Birattari, M.: Iterative improvement in the automatic modular design of robot swarms. PeerJ Comput. Sci. 6, e322 (2020). https://doi.org/10.7717/peerj-cs.322

18.

Kuckling, J., Ubeda Arriaza, K., Birattari, M.: Simulated annealing as an optimization algorithm in the automatic modular design of robot swarms. In: Beuls, K., (eds.) Proceedings of the Reference AI & ML Conference for Belgium, Netherlands & Luxemburg, BNAIC/BENELEARN 2019. CEUR Workshop Proceedings, vol. 2491, CEUR-WS.org, Aachen, Germany (2019)

19.

Lehman, J., Stanley, K.O.: Abandoning objectives: evolution through the search for novelty alone. Evol. Comput. 19(2), 189–223 (2011). https://doi.org/10.1162/EVCO_a_00025

20.

Ligot, A., Birattari, M.: Simulation-only experiments to mimic the effects of the reality gap in the automatic design of robot swarms. Swarm Intell. 14(1), 1–24 (2019). https://doi.org/10.1007/s11721-019-00175-wCrossRef

21.

Ligot, A., Kuckling, J., Bozhinoski, D., Birattari, M.: Automatic modular design of robot swarms using behavior trees as a control architecture. PeerJ Comput. Sci. 6, e314 (2020). https://doi.org/10.7717/peerj-cs.314

22.

López-Ibáñez, M., Dubois-Lacoste, J., Pérez Cáceres, L., Birattari, M., Stützle, T.: The irace package: iterated racing for automatic algorithm configuration. Oper. Res. Perspect. 3, 43–58 (2016). https://doi.org/10.1016/j.orp.2016.09.002

23.

Marzinotto, A., Colledanchise, M., Smith, C., Ögren, P.: Towards a unified behavior trees framework for robot control. In: IEEE International Conference on Robotics and Automation, ICRA, pp. 5420–5427. IEEE, Piscataway, NJ, USA (2014). https://doi.org/10.1109/ICRA.2014.6907656

24.

Neupane, A., Goodrich, M.: Learning swarm behaviors using grammatical evolution and behavior trees. In: Kraus, S. (ed.) Twenty-Eighth International Joint Conference on Artificial Intelligence (IJCAI-19), pp. 513–520. IJCAI (2019). https://doi.org/10.24963/ijcai.2019/73

25.

Pinciroli, C., et al.: ARGoS: a modular, parallel, multi-engine simulator for multi-robot systems. Swarm Intell. 6(4), 271–295 (2012). https://doi.org/10.1007/s11721-012-0072-5

26.

Ögren, P.: Increasing modularity of UAV control systems using computer game behavior trees. In: Thienel, J., et al. (eds.) AIAA guidance, navigation, and control conference 2012, pp. 358–393. AIAA Meeting Papers (2012). https://doi.org/10.2514/6.2012-4458

Title: Automatic Modular Design of Behavior Trees for Robot Swarms with Communication Capabilites
Authors: Jonas Kuckling
Vincent van Pelt
Mauro Birattari
Publisher: Springer International Publishing
Book: Applications of Evolutionary Computation
Print ISBN: 978-3-030-72698-0

Electronic ISBN: 978-3-030-72699-7

Copyright Year: 2021
DOI: https://doi.org/10.1007/978-3-030-72699-7_9

Springer Professional

Abstract

Please log in to get access to your license.

Dont have a licence yet? Then find out more about our products and how to get one now:

Springer Professional "Wirtschaft+Technik"

Springer Professional "Technik"

Springer Professional "Wirtschaft"

Premium Partner