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Artificial Life and Robotics
Published in: Artificial Life and Robotics 4/2020

22-10-2020 | Original Article

Behavioral specialization emerges from the embodiment of a robotic swarm

Authors: Motoaki Hiraga, Yasumasa Tamura, Kazuhiro Ohkura

Published in: Artificial Life and Robotics | Issue 4/2020

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Abstract

This paper focuses on the effect of the embodiment of robots on collective behavior in robotic swarms. The research field of swarm robotics emphasizes the importance of the embodiment of robots; however, only a few studies have discussed how it influences the collective behavior of a robotic swarm. In this paper, a path-formation task is performed by robotic swarms in computer simulations with and without considering collisions among robots to discuss the effect of the robot embodiment. Additionally, the experiments were performed with varying the size of robots. The robot controllers were obtained by an evolutionary robotics approach. The results show that the robot collisions would affect not only the performance of the robotic swarm but also the emergent behavior to accomplish the task. The robot collisions seem to provide feedback on robotic swarms to emerge the division of labor among robots to manage congestion.
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Footnotes
1
The experiments are conducted with the Box2D physics engine (available at http://​box2d.​org).
 
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Metadata
Title
Behavioral specialization emerges from the embodiment of a robotic swarm
Authors
Motoaki Hiraga
Yasumasa Tamura
Kazuhiro Ohkura
Publication date
22-10-2020
Publisher
Springer Japan
Published in
Artificial Life and Robotics / Issue 4/2020
Print ISSN: 1433-5298
Electronic ISSN: 1614-7456
DOI
https://doi.org/10.1007/s10015-020-00641-3

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