On-board evolutionary algorithm and off-line rule discovery for column formation in swarm robotics

Asuki Kouno, Jean Marc Montanier, Shigeru Takano, Nicolas Bredeche, Marc Schoenauer, Michèle Sebag, Einoshin Suzuki

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

This paper aims at building autonomous controllers for swarm robots, specifically aimed at enforcing a given shape formation, here a column formation. The proposed approach features two main characteristics. Firstly, a state-of-the-art evolutionary setting is used to achieve the on-board optimization of the controller, avoiding any simulator-based approach. Secondly, as the cost of physical experiments might be prohibitively high for plain evolutionary approaches, a data mining approach is achieved on the top of evolution; rule discovery is used to discover the most promising regions in the controller search space. The merits of the approach are experimentally validated using a 5 robot formation, showing that the hybrid evolutionary learning process outperforms evolution alone in terms of swarm speed and shape quality.

Original languageEnglish
Title of host publicationProceedings - 2011 IEEE/WIC/ACM International Conference on Intelligent Agent Technology, IAT 2011
Pages220-227
Number of pages8
DOIs
Publication statusPublished - 2011
Event2011 IEEE/WIC/ACM International Conference on Intelligent Agent Technology, IAT 2011 - Lyon, France
Duration: Aug 22 2011Aug 27 2011

Publication series

NameProceedings - 2011 IEEE/WIC/ACM International Conference on Intelligent Agent Technology, IAT 2011
Volume2

Other

Other2011 IEEE/WIC/ACM International Conference on Intelligent Agent Technology, IAT 2011
CountryFrance
CityLyon
Period8/22/118/27/11

All Science Journal Classification (ASJC) codes

  • Artificial Intelligence

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  • Cite this

    Kouno, A., Montanier, J. M., Takano, S., Bredeche, N., Schoenauer, M., Sebag, M., & Suzuki, E. (2011). On-board evolutionary algorithm and off-line rule discovery for column formation in swarm robotics. In Proceedings - 2011 IEEE/WIC/ACM International Conference on Intelligent Agent Technology, IAT 2011 (pp. 220-227). [6040781] (Proceedings - 2011 IEEE/WIC/ACM International Conference on Intelligent Agent Technology, IAT 2011; Vol. 2). https://doi.org/10.1109/WI-IAT.2011.143