Evolution of Neuro-Controllers for Robots' Alignment using Local Communication

In this paper, we use artificial evolution to design homogeneous neural network controller for groups of robots required to align. Aligning refers to the process by which the robots managed to head towards a common arbitrary and autonomously chosen direction starting from initial randomly chosen ori...

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Bibliographic Details
Published in:International journal of advanced robotic systems 2009-03, Vol.6 (1)
Main Authors: Gutiérrez, Álvaro, Tuci, Elio, Campo, Alexandre
Format: Article
Language:English
Subjects:
evolutionary robotics
local communication
infrared signalling
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Summary:In this paper, we use artificial evolution to design homogeneous neural network controller for groups of robots required to align. Aligning refers to the process by which the robots managed to head towards a common arbitrary and autonomously chosen direction starting from initial randomly chosen orientations. The cooperative interactions among robots require local communications that are physically implemented using infrared signalling. We study the performance of the evolved controllers, both in simulation and in reality for different group sizes. In addition, we analyze the most successful communication strategy developed using artificial evolution.
ISSN:1729-8806
1729-8814
DOI:10.5772/6766