Self-organized coordinated motion in groups of physically connected robots

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.

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Author or Creator: 
Baldassarre G.
Trianni V.
Bonani M.
Mondada F.
Dorigo M.
Nolfi S.
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
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ISTC Author: 
Ritratto di Vito Trianni
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Ritratto di Stefano Nolfi
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