Abstract
In this paper the automatic design of behaviors for a swarm of robots is explored. In order to build behaviors for robots automatically a computational platform is proposed. The proposed platform is composed by three major components. The first component is a description format which allows to specify robot properties, basic behaviors and tasks. The second component is a genetic programming implementation along with a physics-based simulator, this component builds in an automatic way expression trees which represent robot behaviors. The final component is a behaviors allocation module to assign expression trees to real robots. The proposed computational platform is deployed in a experimental manufacturing cell.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Parker, L.: Distributed intelligence: overview of the field and its application in multi-robot systems. J. Phys. Agents (JoPha) 2(1), 5–14 (2008). https://doi.org/10.14198/jopha.2008.2.1.02
Brambilla, M., Ferrante, E., Birattari, M., Dorigo, M.: Swarm robotics: a review from the swarm engineering perspective. Swarm Intell. 7(1), 1–41 (2013). https://doi.org/10.1007/s11721-012-0075-2
Trianni, V.: Evolutionary swarm robotics. In: Studies in Computational Intelligence, vol. 108(1) (2008). https://doi.org/10.1007/978-3-540-77612-3
Francesca, G., Brambilla, M., Brutschy, A., Trianni, V., Birattari, M.: AutoMoDe: a novel approach to the automatic design of control software for robot swarms. Swarm Intell. 8(2), 89–112 (2014). https://doi.org/10.1007/s11721-014-0092-4
Ohkura, K., Yasuda, T., Matsumura, Y.: Coordinating the collective behavior of swarm robotics systems based on incremental evolution. In: Proceedings of 2013 IEEE International Conference on Systems, Man, and Cybernetics (2013). https://doi.org/10.1109/smc.2013.687
Dorigo, M., Floreano, D., Gambardella, L., et al.: Swarmanoid: a novel concept for the study of heterogeneous robotic swarms. IEEE Robot. Autom. Mag. 20(4), 60–71 (2013). https://doi.org/10.1109/mra.2013.2252996
Hecker, J., Moses, M.: Beyond pheromones: evolving error-tolerant, flexible, and scalable ant-inspired robot swarms. Swarm Intell. 9(1), 43–70 (2015). https://doi.org/10.1007/s11721-015-0104-z
Koenig, N., Howard, A.: Design and use paradigms for gazebo, an open-source multi-robot simulator. In: 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat No 04CH37566). https://doi.org/10.1109/iros.2004.1389727
Simulation Definition Format. http://www.ncbi.nlm.nih.gov
Lee, J., Ahn, C., An, J.: An approach to self-assembling swarm robots using multitree genetic programming. Sci. World J. 2013, 1–10 (2013). https://doi.org/10.1155/2013/593848
Koza, J.: Genetic programming: a paradigm for genetically breeding populations of computer programs to solve problems (1990)
Computational platform demonstrative videos (2018). https://github.com/labfabexun/cp-sdl
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2019 Springer International Publishing AG, part of Springer Nature
About this paper
Cite this paper
Chavez, J., Gómez, J., Córdoba, E. (2019). Coordination Platform for a Swarm of Mobile Robots. In: De La Prieta, F., Omatu, S., Fernández-Caballero, A. (eds) Distributed Computing and Artificial Intelligence, 15th International Conference. DCAI 2018. Advances in Intelligent Systems and Computing, vol 800. Springer, Cham. https://doi.org/10.1007/978-3-319-94649-8_28
Download citation
DOI: https://doi.org/10.1007/978-3-319-94649-8_28
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-94648-1
Online ISBN: 978-3-319-94649-8
eBook Packages: Intelligent Technologies and RoboticsIntelligent Technologies and Robotics (R0)