TY - GEN
T1 - On-board evolutionary algorithm and off-line rule discovery for column formation in swarm robotics
AU - Kouno, Asuki
AU - Montanier, Jean Marc
AU - Takano, Shigeru
AU - Bredeche, Nicolas
AU - Schoenauer, Marc
AU - Sebag, Michèle
AU - Suzuki, Einoshin
PY - 2011
Y1 - 2011
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=80155195451&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=80155195451&partnerID=8YFLogxK
U2 - 10.1109/WI-IAT.2011.143
DO - 10.1109/WI-IAT.2011.143
M3 - Conference contribution
AN - SCOPUS:80155195451
SN - 9780769545134
T3 - Proceedings - 2011 IEEE/WIC/ACM International Conference on Intelligent Agent Technology, IAT 2011
SP - 220
EP - 227
BT - Proceedings - 2011 IEEE/WIC/ACM International Conference on Intelligent Agent Technology, IAT 2011
T2 - 2011 IEEE/WIC/ACM International Conference on Intelligent Agent Technology, IAT 2011
Y2 - 22 August 2011 through 27 August 2011
ER -