Skip to main content
Erschienen in: Evolutionary Intelligence 2/2014

01.08.2014 | Special Issue

The distributed co-evolution of an on-board simulator and controller for swarm robot behaviours

verfasst von: Paul J. O’Dowd, Matthew Studley, Alan F. T. Winfield

Erschienen in: Evolutionary Intelligence | Ausgabe 2/2014

Einloggen

Aktivieren Sie unsere intelligente Suche um passende Fachinhalte oder Patente zu finden.

search-config
loading …

Abstract

We investigate the reality gap, specifically the environmental correspondence of an on-board simulator. We describe a novel distributed co-evolutionary approach to improve the transference of controllers that co-evolve with an on-board simulator. A novelty of our approach is the the potential to improve transference between simulation and reality without an explicit measurement between the two domains. We hypothesise that a variation of on-board simulator environment models across many robots can be competitively exploited by comparison of the real controller fitness of many robots. We hypothesise that the real controller fitness values across many robots can be taken as indicative of the varied fitness in environmental correspondence of on-board simulators, and used to inform the distributed evolution an on-board simulator environment model without explicit measurement of the real environment. Our results demonstrate that our approach creates an adaptive relationship between the on-board simulator environment model, the real world behaviour of the robots, and the state of the real environment. The results indicate that our approach is sensitive to whether the real behavioural performance of the robot is informative on the state real environment.

Sie haben noch keine Lizenz? Dann Informieren Sie sich jetzt über unsere Produkte:

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!

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!

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!

Literatur
1.
Zurück zum Zitat Bjerknes J, Winfield A (2013) On fault tolerance and scalability of swarm robotic systems. In: Martinoli A, Mondada F, Correll N, Mermoud G, Egerstedt M, Hsieh MA, Parker LE, Sty K (eds) Distributed autonomous robotic systems, Springer tracts in advanced robotics, vol 83. Springer, Berlin, pp 431–444CrossRef Bjerknes J, Winfield A (2013) On fault tolerance and scalability of swarm robotic systems. In: Martinoli A, Mondada F, Correll N, Mermoud G, Egerstedt M, Hsieh MA, Parker LE, Sty K (eds) Distributed autonomous robotic systems, Springer tracts in advanced robotics, vol 83. Springer, Berlin, pp 431–444CrossRef
2.
Zurück zum Zitat Bongard J, Zykov V, Lipson H (2006) Resilient machines through continuous self-modeling. Science 314:1118–1121CrossRef Bongard J, Zykov V, Lipson H (2006) Resilient machines through continuous self-modeling. Science 314:1118–1121CrossRef
3.
Zurück zum Zitat Eiben AE, Haasdijk E, Bredeche N (2010) Embodied, on-line, on-board evolution for autonomous robotics. In: Levi P, Kernbach S (eds) Symbiotic multi-robot organisms. Springer, Berlin, pp 367–388 Eiben AE, Haasdijk E, Bredeche N (2010) Embodied, on-line, on-board evolution for autonomous robotics. In: Levi P, Kernbach S (eds) Symbiotic multi-robot organisms. Springer, Berlin, pp 367–388
4.
Zurück zum Zitat Eiben A, Karafotias G, Haasdijk E (2010) Self-adaptive mutation in on- line, on-board evolutionary robotics. In: Proceedings of the Workshop on Self-Organisation in Pervasive Adaptive Systems (PerAda) at the Fourth IEEE International Conference on Self-Adaptive and Self-Organizing Systems (SASO 2010). IEEE Press, Piscataway Eiben A, Karafotias G, Haasdijk E (2010) Self-adaptive mutation in on- line, on-board evolutionary robotics. In: Proceedings of the Workshop on Self-Organisation in Pervasive Adaptive Systems (PerAda) at the Fourth IEEE International Conference on Self-Adaptive and Self-Organizing Systems (SASO 2010). IEEE Press, Piscataway
5.
Zurück zum Zitat Haasdijk E, Eiben A, Karafotias G (2010) On-line evolution of robot controllers by an encapsulated evolution strategy. In: Proceedings of the 2010 IEEE Congress on Evolutionary Computation, Barcelona, Spain, 2010b. IEEE Computational Intelligence Society, IEEE Press Haasdijk E, Eiben A, Karafotias G (2010) On-line evolution of robot controllers by an encapsulated evolution strategy. In: Proceedings of the 2010 IEEE Congress on Evolutionary Computation, Barcelona, Spain, 2010b. IEEE Computational Intelligence Society, IEEE Press
6.
Zurück zum Zitat Hayes A, Martinoli A, Goodman R (2003) Swarm robotic odor localization: off-line optimization and validation with real robots. Robotica 21(4):427–441 CrossRef Hayes A, Martinoli A, Goodman R (2003) Swarm robotic odor localization: off-line optimization and validation with real robots. Robotica 21(4):427–441 CrossRef
7.
Zurück zum Zitat Jakobi N, Husbands P, Harvey I (1995) Noise and the reality gap: the use of simulation in evolutionary robotics. In: Advances in Artificial Life: Proceedings of 3rd European Conference on Artificial Life, Springer, pp 704–720 Jakobi N, Husbands P, Harvey I (1995) Noise and the reality gap: the use of simulation in evolutionary robotics. In: Advances in Artificial Life: Proceedings of 3rd European Conference on Artificial Life, Springer, pp 704–720
8.
Zurück zum Zitat Kernbach S, Meister E, Scholz O, Humza R, Liedke J, Ricotti L, Jemai J, Havlik J, Liu, W (2009) Evolutionary robotics: the next-generation-platform for on-line and on-board artificial evolution. In: Evolutionary Computation, 2009. CEC ’09. IEEE Congress on, pp 1079–1086 Kernbach S, Meister E, Scholz O, Humza R, Liedke J, Ricotti L, Jemai J, Havlik J, Liu, W (2009) Evolutionary robotics: the next-generation-platform for on-line and on-board artificial evolution. In: Evolutionary Computation, 2009. CEC ’09. IEEE Congress on, pp 1079–1086
9.
Zurück zum Zitat Koos S, Mouret JB, Doncieux S (2013) The transferability approach: crossing the reality gap in evolutionary robotics. IEEE Trans Evol Comput 17(1):122–145CrossRef Koos S, Mouret JB, Doncieux S (2013) The transferability approach: crossing the reality gap in evolutionary robotics. IEEE Trans Evol Comput 17(1):122–145CrossRef
10.
Zurück zum Zitat Knig L, Jebens K, Kernbach S, Levi P (2008) Stability of on-line and on-board evolving of adaptive collective behavior. In: Bruyninckx H, Preucil L, Kulich M (eds) European robotics symposium 2008, Springer tracts in advanced robotics, vol 44. Springer, Berlin, pp 293–302CrossRef Knig L, Jebens K, Kernbach S, Levi P (2008) Stability of on-line and on-board evolving of adaptive collective behavior. In: Bruyninckx H, Preucil L, Kulich M (eds) European robotics symposium 2008, Springer tracts in advanced robotics, vol 44. Springer, Berlin, pp 293–302CrossRef
11.
Zurück zum Zitat Liu W, Winfield A (2011) Open-hardware e-puck linux extension board for experimental swarm robotics research. Microprocess Microsyst 35(1):60–67CrossRef Liu W, Winfield A (2011) Open-hardware e-puck linux extension board for experimental swarm robotics research. Microprocess Microsyst 35(1):60–67CrossRef
12.
Zurück zum Zitat Liu W, Winfield AF (2009) A macroscopic probabilistic model of adaptive foraging in swarm robotics systems. In: 6th Vienna International Conference on Mathematical Modelling, Vienna, pp 11–13 Liu W, Winfield AF (2009) A macroscopic probabilistic model of adaptive foraging in swarm robotics systems. In: 6th Vienna International Conference on Mathematical Modelling, Vienna, pp 11–13
13.
Zurück zum Zitat Mataric M, Cliff D (1996) Challenges in evolving controllers for physical robots. Rob Auton Syst 19(1):67–83CrossRef Mataric M, Cliff D (1996) Challenges in evolving controllers for physical robots. Rob Auton Syst 19(1):67–83CrossRef
14.
Zurück zum Zitat Miglino O, Lund H, Nolfi S (1996) Evolving mobile robots in simulated and real environments. Artif Life 2:417–434CrossRef Miglino O, Lund H, Nolfi S (1996) Evolving mobile robots in simulated and real environments. Artif Life 2:417–434CrossRef
15.
Zurück zum Zitat Mondada F, Bonani M, Raemy X, Pugh J, Cianci C, Klaptocz A, Magnenat S, Zufferey J, Floreano D, Martinoli A (2009) The e-puck, a robot designed for education in engineering. In: Proceedings of the 9th Conference on Autonomous Robot Systems and Competitions, pp 59–65 Mondada F, Bonani M, Raemy X, Pugh J, Cianci C, Klaptocz A, Magnenat S, Zufferey J, Floreano D, Martinoli A (2009) The e-puck, a robot designed for education in engineering. In: Proceedings of the 9th Conference on Autonomous Robot Systems and Competitions, pp 59–65
16.
Zurück zum Zitat Nolfi S, Parisi D (1995) Evolving non-trivial behaviors on real robots: an autonomous robot that picks up objects. In: Gori M, Soda G (eds) Topics in artificial intelligence, vol 992., Lecture Notes in Computer ScienceSpringer, Berlin, pp 243–254CrossRef Nolfi S, Parisi D (1995) Evolving non-trivial behaviors on real robots: an autonomous robot that picks up objects. In: Gori M, Soda G (eds) Topics in artificial intelligence, vol 992., Lecture Notes in Computer ScienceSpringer, Berlin, pp 243–254CrossRef
17.
Zurück zum Zitat Nolfi S, Parisi D (1997) Learning to adapt to changing environments in evolving neural networks. Adapt Behav 5(1):75–98 Nolfi S, Parisi D (1997) Learning to adapt to changing environments in evolving neural networks. Adapt Behav 5(1):75–98
18.
Zurück zum Zitat O’Dowd P, Winfield A, Studley M (2010) Towards accelerated distributed evolution for adaptive behaviours in swarm robotics. In: Proceedings of Towards Autonomous Robotic Systems (TAROS 2010), pp 169–175 O’Dowd P, Winfield A, Studley M (2010) Towards accelerated distributed evolution for adaptive behaviours in swarm robotics. In: Proceedings of Towards Autonomous Robotic Systems (TAROS 2010), pp 169–175
19.
Zurück zum Zitat Schlachter F, Schwarzer C, Kernbach S, Michiels N, Levi P (2010) Incremental online evolution and adaptation of neural networks for robot control in dynamic environments. In: Adaptive 2010, the second international conference on adaptive and self-adaptive systems and applications, pp 111–116 Schlachter F, Schwarzer C, Kernbach S, Michiels N, Levi P (2010) Incremental online evolution and adaptation of neural networks for robot control in dynamic environments. In: Adaptive 2010, the second international conference on adaptive and self-adaptive systems and applications, pp 111–116
20.
Zurück zum Zitat Schut M, Haasdijk E, Eiben A (2009) What is situated evolution? In: Evolutionary Computation, 2009. CEC ’09. IEEE Congress on, pp 3277–3284 Schut M, Haasdijk E, Eiben A (2009) What is situated evolution? In: Evolutionary Computation, 2009. CEC ’09. IEEE Congress on, pp 3277–3284
21.
Zurück zum Zitat Seeley TD (2002) When is self-organization used in biological systems? Biol Bull 202(3):314–318CrossRef Seeley TD (2002) When is self-organization used in biological systems? Biol Bull 202(3):314–318CrossRef
22.
Zurück zum Zitat Tomassini M (2005) Spatially structured evolutionary algorithms: artificial evolution in space and time (natural computing series). Springer, Secaucus Tomassini M (2005) Spatially structured evolutionary algorithms: artificial evolution in space and time (natural computing series). Springer, Secaucus
23.
Zurück zum Zitat Trianni V (2006) On the evolution of self-organising behaviours in a swarm of autonomous robots Trianni V (2006) On the evolution of self-organising behaviours in a swarm of autonomous robots
24.
Zurück zum Zitat Watson RA, Ficici SG, Pollack JB (2002) Embodied evolution: distributing an evolutionary algorithm in a population of robots. Rob Auton Syst 39(1):1–18CrossRef Watson RA, Ficici SG, Pollack JB (2002) Embodied evolution: distributing an evolutionary algorithm in a population of robots. Rob Auton Syst 39(1):1–18CrossRef
25.
Zurück zum Zitat Zagal JC, Ruiz-Del-Solar J (2007) Combining simulation and reality in evolutionary robotics. J Intell Rob Syst 50(1):19–39CrossRef Zagal JC, Ruiz-Del-Solar J (2007) Combining simulation and reality in evolutionary robotics. J Intell Rob Syst 50(1):19–39CrossRef
Metadaten
Titel
The distributed co-evolution of an on-board simulator and controller for swarm robot behaviours
verfasst von
Paul J. O’Dowd
Matthew Studley
Alan F. T. Winfield
Publikationsdatum
01.08.2014
Verlag
Springer Berlin Heidelberg
Erschienen in
Evolutionary Intelligence / Ausgabe 2/2014
Print ISSN: 1864-5909
Elektronische ISSN: 1864-5917
DOI
https://doi.org/10.1007/s12065-014-0112-8

Weitere Artikel der Ausgabe 2/2014

Evolutionary Intelligence 2/2014 Zur Ausgabe