Swarm robotics is a promising approach for the coordination of large numbers of robots. While previous studies have shown that evolutionary robotics techniques can be applied to obtain robust and efficient self-organized behaviors for robot swarms, most studies have been conducted in simulation, and the few that have been conducted on real robots have been confined to laboratory environments. In this paper, we demonstrate for the first time a swarm robotics system with evolved control successfully operating in a real and uncontrolled environment. We evolve neural network-based controllers in simulation for canonical swarm robotics tasks, namely homing, dispersion, clustering, and monitoring. We then assess the performance of the controllers on a real swarm of up to ten aquatic surface robots. Our results show that the evolved controllers transfer successfully to real robots and achieve a performance similar to the performance obtained in simulation. We validate that the evolved controllers display key properties of swarm intelligence-based control, namely scalability, flexibility, and robustness on the real swarm. We conclude with a proof-of-concept experiment in which the swarm performs a complete environmental monitoring task by combining multiple evolved controllers.
A heuristic method to find asymptotic solutions to a system of non-linear wave equations near null infinity is proposed. The non-linearities in this model, dubbed good–bad–ugly, are known to mimic the ones present in the Einstein field equations and we expect to be able to exploit this method to derive an asymptotic expansion for the metric in general relativity close to null infinity that goes beyond first order as performed by Lindblad and Rodnianski for the leading asymptotics. For the good–bad–ugly model, we derive formal expansions in which terms proportional to the logarithm of the radial coordinate appear at every order in the bad field, from the second order onward in the ugly field but never in the good field. The model is generalized to wave operators built from an asymptotically flat metric and it is shown that it admits polyhomogeneous asymptotic solutions. Finally we define stratified null forms, a generalization of standard null forms, which capture the behavior of different types of field, and demonstrate that the addition of such terms to the original system bears no qualitative influence on the type of asymptotic solutions found.
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