Evolving a scalable multirobot controller using an artificial neural tissue paradigm

Jekanthan Thangavelautham, Alexander D.S. Smith, Dale Boucher, Jim Richard, Gabriele M.T. D'Eleuterio

Research output: Chapter in Book/Report/Conference proceedingConference contribution

8 Scopus citations

Abstract

We present an "Artificial Neural Tissue" (ANT) architecture as a control system for autonomous multirobot tasks. This architecture combines a typical neural-network structure with a coarse-coding strategy that permits specialized areas to develop in the tissue which in turn allows such emergent capabilities as task decomposition. Only a single global fitness function and a set of allowable basis behaviors need be specified. An evolutionary (Darwinian) selection process is used to derive controllers for the task in simulation. This process results in the emergence of novel functionality through the task decomposition of mission goals. ANT-based controllers are shown to exhibit self-organization, employ stigmergy and make use of templates (unlabeled environmental cues). These controllers have been tested on a multirobot resource-collection task in which teams of robots with no explicit supervision can successfully avoid obstacles, explore terrain, locate resource material and collect it in a designated area by using a light beacon for reference and interpreting unlabeled perimeter markings. The issues of scalability and antagonism are addressed.

Original languageEnglish (US)
Title of host publication2007 IEEE International Conference on Robotics and Automation, ICRA'07
Pages77-84
Number of pages8
DOIs
StatePublished - 2007
Externally publishedYes
Event2007 IEEE International Conference on Robotics and Automation, ICRA'07 - Rome, Italy
Duration: Apr 10 2007Apr 14 2007

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Other

Other2007 IEEE International Conference on Robotics and Automation, ICRA'07
Country/TerritoryItaly
CityRome
Period4/10/074/14/07

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

Fingerprint

Dive into the research topics of 'Evolving a scalable multirobot controller using an artificial neural tissue paradigm'. Together they form a unique fingerprint.

Cite this