Abstract
This work is devoted with the application of a canonical Embodied Evolution algorithm in a collective task in which a fleet of Micro Aerial Vehicles (MAVs) have to survey an indoor scenario. The MAVs need to locate themselves to keep track of their trajectories and to share this information with other robots. This localization is performed using the IMU, artificial landmarks that can be sensed using the onboard camera and the position of other MAVs in sight. The accuracy in the decentralized location of each MAV has been included as a part of the problem to solve. Therefore, the collective control system is in charge of organizing the MAVs in the scenario in order to increase the accuracy of the fleet location, and consequently, the speed at which a new point of interest is reached.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
Similar content being viewed by others
References
Thrun, S., Burgard, W., Fox, D.: Probabilistic Robotics. MIT Press (2005)
Siegwart, R.: Nourbakhsh. I., Scaramuzza, D.: Introduction to Autonomous Mobile Robots. MIT Press (2011)
Chatterjee, A., Rakshit, A., Singh, N.: Vision Based Autonomous Robot Navigation: Algorithms and Implementations. SCI, vol. 455. Springer, Heidelberg (2013)
Shen, S.: Michael, N., Kumar, V.: Autonomous multi-floor indoor navigation with a computationally constrained MAV. In: Proceedings ICRA 2011, pp. 20–25 (2011)
Lippiello, V., Loianno, G., Siciliano, B.: MAV indoor navigation based on a closed-form solution for absolute scale velocity estimation using Optical Flow and inertial data. In: Proceedings CDC-ECC 2011, pp. 3566–3571 (2011)
Trianni, V., Nolfi, S.: Evolving collective control, cooperation and distributed cognition. In: Handbook of Collective Robotics, pp. 127–166. Springer (2012)
Nitschke, G.S.: Neuro-Evolution approaches to collective behavior. In: Proceedings CEC 2009, pp. 1554–1561 (2009)
Watson, R., Ficici, S., Pollack, J.: Embodied evolution: Distributing an evolutionary algorithm in a population of robots. Robotics and Autonomous Systems 39(1), 1–18 (2002)
Schut, M.C., Haasdijk, E., Prieto, A.: Is situated evolution an alternative for classical evolution?. In: Proceedings CEC 2009, pp. 2971–2976 (2009)
Haasdijk, E., Eiben, A.E., Karafotias, G.: On-line evolution of robot controllers by an encapsulated evolution strategy. In: Proceedings IEEE CEC 2010, pp. 1–7 (2010)
Elfwing, S., Uchibe, E., Doya, K., Christensen, H.: Darwinian embodied evolution of the learning ability for survival. Adaptive Behavior 19(2), 101–120 (2011)
Bredeche, N., Montanier, J.M., Liu, W., Winfield, A.: Environment-driven Distributed Evolutionary Adaptation in a Population of Autonomous Robotic Agents. Mathem. and Comput. Modelling of Dynamical Systems 18(1), 101–129 (2012)
Prieto, A., Becerra, J.A., Bellas, F., Duro, R.J.: Open-ended Evolution as a means to Self-Organize Heterogeneous Multi-Robot Systems in Real Time. Robotics and Autonomous Systems 58, 1282–1291 (2010)
Trueba, P., Prieto, A., Bellas, F., Caamao, P., Duro, R.J.: Specialization analysis of embodied evolution for robotic collective tasks. Robotics and Autonomous Systems 61(7), 682–693 (2012)
Trueba, P., Prieto, A., Bellas, F.: Distributed embodied evolution for collective tasks: parametric analysis of a canonical algorithm. In: Proc. GECCO 2013, pp. 37–38 (2013)
Olson, E.: AprilTag: A robust and flexible visual fiducial system. In: Proceedings ICRA 2011, pp. 3400–3407 (2011)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2015 Springer International Publishing Switzerland
About this paper
Cite this paper
Trueba, P., Prieto, A., Bellas, F., Duro, R.J. (2015). Embodied Evolution for Collective Indoor Surveillance and Location. In: Ferrández Vicente, J., Álvarez-Sánchez, J., de la Paz López, F., Toledo-Moreo, F., Adeli, H. (eds) Bioinspired Computation in Artificial Systems. IWINAC 2015. Lecture Notes in Computer Science(), vol 9108. Springer, Cham. https://doi.org/10.1007/978-3-319-18833-1_15
Download citation
DOI: https://doi.org/10.1007/978-3-319-18833-1_15
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-18832-4
Online ISBN: 978-3-319-18833-1
eBook Packages: Computer ScienceComputer Science (R0)