An important goal of collective robotics is the design of control systems that allow groups of robots to accomplish common tasks by coordinating without a centralized control. In this paper, we study how a group of physically assembled robots can display coherent behavior on the basis of a simple neural controller that has access only to local sensory information. This controller is synthesized through artificial evolution in a simulated environment in order to let the robots display coordinated-motion behaviors. The evolved controller proves to be robust enough to allow a smooth transfer from simulated to real robots. Additionally, it generalizes to new experimental conditions, such as different sizes/shapes of the group and/or different connection mechanisms. In all these conditions the performance of the neural controller in real robots is comparable to the one obtained in simulation.
Self-organized coordinated motion in groups of physically connected robots
Institute of Electrical and Electronics Engineers,, New York, NY , Stati Uniti d'America
IEEE transactions on systems, man and cybernetics. Part B. Cybernetics 37 (2007): 224–239. doi:10.1109/TSMCB.2006.881299
info:cnr-pdr/source/autori:Baldassarre G.; Trianni V.; Bonani M.; Mondada F.; Dorigo M.; Nolfi S./titolo:Self-organized coordinated motion in groups of physically connected robots/doi:10.1109/TSMCB.2006.881299/rivista:IEEE transactions on systems, man and