文章基本信息

标题：Hormone-Inspired Behaviour Switching for the Control of Collective Robotic Organisms
本地全文：下载
作者：Tüze Kuyucu ; Ivan Tanev ; Katsunori Shimohara 等
期刊名称：Robotics
电子版ISSN：2218-6581
出版年度：2013
卷号：2
期号：3
页码：165-184
DOI：10.3390/robotics2030165
语种：English
出版社：MDPI Publishing
摘要：Swarming and modular robotic locomotion are two disconnected behaviours that a group of small homogeneous robots can be used to achieve. The use of these two behaviours is a popular subject in robotics research involving search, rescue and exploration. However, they are rarely addressed as two behaviours that can coexist within a single robotic system. Here, we present a bio-inspired decision mechanism, which provides a convenient way for evolution to configure the conditions and timing of behaving as a swarm or a modular robot in an exploration scenario. The decision mechanism switches among two behaviours that are previously developed (a pheromone-based swarm control and a sinusoidal rectilinear modular robot movement). We use Genetic Programming (GP) to evolve the controller for these decisions, which acts without a centralized mechanism and with limited inter-robot communication. The results show that the proposed bio-inspired decision mechanism provides an evolvable medium for the GP to utilize in evolving an effective decision-making mechanism.
关键词：collective robotics; modular robotics; swarm robotics; hormone-inspired; XGP; Genetic Programming; reconfigurable robotics; pheromone-inspired