The distributed co-evolution of an embodied simulator and controller for swarm robot behaviours

O'Dowd, Paul; Winfield, Alan; Studley, Matthew

doi:10.1109/iros.2011.6094600

Cited by 8 publications

(4 citation statements)

References 11 publications

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“…Overall, our review and discussion has shown that while there are not yet indisputable solutions to the current issues, some approaches with encouraging results have been introduced. To address the reality gap and the long time required to evolve controllers directly on real robots, the onboard combination of simulation-based evolution and online evolution (Bongard et al, 2006;Bongard, 2009;O'Dowd et al, 2011) stands out as the most promising approach. Specifically, because the utility of the simulation model is evaluated as a function of the online performance of the physical robot, controller evaluation and optimization can be conducted with increasing fidelity at a rate faster than real time.…”

Section: Conclusion and Discussionmentioning

confidence: 99%

“…The result is a self-improving, self-contained system that can synthesize, evaluate, and deploy solutions. In effect, a number of studies have been conducted in this direction using simulation-based experiments Lipson, 2004, 2005;De Nardi and Holland, 2008), and real robots (Bongard et al, 2006;Bongard, 2009;O'Dowd et al, 2011).…”

Section: Combining Offline Evolution and Online Evolutionmentioning

confidence: 99%

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Open Issues in Evolutionary Robotics

Silva

Duarte

Correia

et al. 2016

Evolutionary Computation

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One of the long-term goals in evolutionary robotics is to be able to automatically synthesize controllers for real autonomous robots based only on a task specification. While a number of studies have shown the applicability of evolutionary robotics techniques for the synthesis of behavioral control, researchers have consistently been faced with a number of issues preventing the widespread adoption of evolutionary robotics for engineering purposes. In this article, we review and discuss the open issues in evolutionary robotics. First, we analyze the benefits and challenges of simulation-based evolution and subsequent deployment of controllers versus evolution on real robotic hardware. Second, we discuss specific evolutionary computation issues that have plagued evolutionary robotics: (1) the bootstrap problem, (2) deception, and (3) the role of genomic encoding and genotype-phenotype mapping in the evolution of controllers for complex tasks. Finally, we address the absence of standard research practices in the field. We also discuss promising avenues of research. Our underlying motivation is the reduction of the current gap between evolutionary robotics and mainstream robotics, and the establishment of evolutionary robotics as a canonical approach for the engineering of autonomous robots.

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Section: Conclusion and Discussionmentioning

confidence: 99%

Section: Combining Offline Evolution and Online Evolutionmentioning

confidence: 99%

Open Issues in Evolutionary Robotics

Silva

Duarte

Correia

et al. 2016

Evolutionary Computation

View full text Add to dashboard Cite

show abstract

“…A number of works devoted attention to the subject of virtual sensing technology. O'Dowd et al [3] and Bjerknes et al [4] implemented a specific virtual sensor to perform robot localisation. In both cases, the authors adopt a tracking or positioning system to import the robots' position in a simulator.…”

Section: Related Workmentioning

confidence: 99%

“…In both cases, the authors adopt a tracking or positioning system to import the robots' position in a simulator. O'Dowd et al [3] used a tracking system and WiFi communication to supply the robots with their position. Thus, virtual sensor technology has been implemented only as a specific virtual GPS sensor.…”

Section: Related Workmentioning

confidence: 99%

Augmented reality for robots: Virtual sensing technology applied to a swarm of e-pucks

Reina

Salvaro

Francesca

et al. 2015

2015 NASA/ESA Conference on Adaptive Hardware and Systems (AHS)

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We present a novel technology that allows real robots to perceive an augmented reality environment through virtual sensors. Virtual sensors are a useful and desirable technology for research activities because they allow researchers to quickly and efficiently perform experiments that would otherwise be more expensive, or even impossible. In particular, augmented reality is useful (i) for prototyping and assessing the impact of new sensors before they are physically produced; and (ii) for developing and studying the behaviour of robots that should deal with phenomena that cannot be easily reproduced in a laboratory environment because, for example, they are dangerous (e.g., fire, radiations). We realised an augmented reality system for robots in which a simulator retrieves real-time data on the real environment through a multi-camera tracking system and delivers post-processed information to the robot swarm according to each robot's sensing range. We illustrate the proposed virtual sensing technology through an experiment involving 15 e-pucks.

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The Impact of the Robot’s Morphology in the Collective Transport

Meyer

2019

Towards Autonomous Robotic Systems

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The distributed co-evolution of an embodied simulator and controller for swarm robot behaviours

Cited by 8 publications

References 11 publications

Open Issues in Evolutionary Robotics

Open Issues in Evolutionary Robotics

Augmented reality for robots: Virtual sensing technology applied to a swarm of e-pucks

The Impact of the Robot’s Morphology in the Collective Transport

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