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

研究成果: 書籍/レポート タイプへの寄稿会議への寄与

1 被引用数 (Scopus)

抄録

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.

本文言語英語
ホスト出版物のタイトルProceedings - 2011 IEEE/WIC/ACM International Conference on Intelligent Agent Technology, IAT 2011
ページ220-227
ページ数8
DOI
出版ステータス出版済み - 2011
イベント2011 IEEE/WIC/ACM International Conference on Intelligent Agent Technology, IAT 2011 - Lyon, フランス
継続期間: 8月 22 20118月 27 2011

出版物シリーズ

名前Proceedings - 2011 IEEE/WIC/ACM International Conference on Intelligent Agent Technology, IAT 2011
2

その他

その他2011 IEEE/WIC/ACM International Conference on Intelligent Agent Technology, IAT 2011
国/地域フランス
CityLyon
Period8/22/118/27/11

!!!All Science Journal Classification (ASJC) codes

  • 人工知能

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