An Evolutionary Approach to Formation Control with Mobile Robots

Josephine Griffith; Colm O'Riordan

doi:http://hdl.handle.net/10379/7389

An Evolutionary Approach to Formation Control with Mobile Robots

Josephine Griffith, Colm O'Riordan

Computer Science

Research output: Chapter in Book or Conference Publication/Proceeding › Conference Publication › peer-review

Abstract

The field of swarm robotics studies multi-robot systems, emphasising decentralised and self-organising behaviours that deal with limited individual abilities, local sensing and local communication. A robotic system needs to be flexible to environmental changes, robust to failure and scalable to large groups. These desired features can be achieved through collective behaviours such as aggregation, synchronisation, coordination and exploration. We aim to analyse these emerging behaviours by applying an evolutionary approach to a specific robotic system, called the Kilobot, in order to learn behaviours. If successful, not only would the cost and computation time for evolutionary computation in mobile robotics decrease, but the reality-gap could also narrow.

Original language	English (Ireland)
Title of host publication	PROCEEDINGS OF THE 8TH INTERNATIONAL JOINT CONFERENCE ON COMPUTATIONAL INTELLIGENCE, VOL 1: ECTA
DOIs	https://doi.org/http://hdl.handle.net/10379/7389
Publication status	Published - 1 Jan 2016

Authors (Note for portal: view the doc link for the full list of authors)

Authors
Holland, J ,Griffith, J, O'Riordan, C,

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Cite this

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title = "An Evolutionary Approach to Formation Control with Mobile Robots",

abstract = "The field of swarm robotics studies multi-robot systems, emphasising decentralised and self-organising behaviours that deal with limited individual abilities, local sensing and local communication. A robotic system needs to be flexible to environmental changes, robust to failure and scalable to large groups. These desired features can be achieved through collective behaviours such as aggregation, synchronisation, coordination and exploration. We aim to analyse these emerging behaviours by applying an evolutionary approach to a specific robotic system, called the Kilobot, in order to learn behaviours. If successful, not only would the cost and computation time for evolutionary computation in mobile robotics decrease, but the reality-gap could also narrow.",

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An Evolutionary Approach to Formation Control with Mobile Robots

Abstract

Authors (Note for portal: view the doc link for the full list of authors)

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