alexa Abstract | Robust Swarm Robotics System Using CMA-NeuroES with Incremental Evolution
ISSN: 2090-4908

International Journal of Swarm Intelligence and Evolutionary Computation
Open Access

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Research Article Open Access

Abstract

Swarm robotics (SR) is a novel approach to the coordination of large numbers of homogeneous robots; SR takes inspiration from social insects. Each individual robot in an SR system (SRS) is relatively simple and physically embodied. Researchers aim to design robust, scalable, and flexible collective behaviours through local interactions between robots and their environment. In this study, a simulated robot controller evolved by a recurrent artificial neural network with the covariance matrix adaptation evolution strategy, i.e., CMANeuroES is adopted for incremental artificial evolution. Cooperative food foraging is conducted by our proposed controller as one of the most complex simulation applications. Since a high level of robustness is expected in an SRS, several tests are conducted to verify that incremental artificial evolution with CMANeuroES generates the most robust robot controller among the ones tested in simulation experiments.

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Author(s): Kazuhiro Ohkura, Tian Yu, Toshiyuki Yasuda, Yoshiyuki Matsumura and Masanori Goka

Keywords

Swarm robotics system, Covariance matrix adaptation, Robust robotic system, Evolutionary robotics, Evolutionary algorithms, Genetic algorithm, Swarm Robotics, Evolution of social network, Evolutionary algorithm, Swarm intelligence

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