Paul O'Dowd
The distributed co-evolution of an on-board simulator and controller for swarm robot behaviours
O'Dowd, Paul; Studley, Matthew; Winfield, Alan F.T.
Authors
Dr Matthew Studley Matthew2.Studley@uwe.ac.uk
Associate Professor in Technology Ethics
Alan Winfield Alan.Winfield@uwe.ac.uk
Professor in Robotics
Abstract
We investigate the reality gap, specifically the environmental correspondence of an on-board simulator. We describe a novel distributed co-evolutionary approach to improve the transference of controllers that co-evolve with an on-board simulator. A novelty of our approach is the the potential to improve transference between simulation and reality without an explicit measurement between the two domains. We hypothesise that a variation of on-board simulator environment models across many robots can be competitively exploited by comparison of the real controller fitness of many robots. We hypothesise that the real controller fitness values across many robots can be taken as indicative of the varied fitness in environmental correspondence of on-board simulators, and used to inform the distributed evolution an on-board simulator environment model without explicit measurement of the real environment. Our results demonstrate that our approach creates an adaptive relationship between the on-board simulator environment model, the real world behaviour of the robots, and the state of the real environment. The results indicate that our approach is sensitive to whether the real behavioural performance of the robot is informative on the state real environment. © 2014 Springer-Verlag Berlin Heidelberg.
Citation
Winfield, A. F. T., O'Dowd, P. J., O'Dowd, P., Studley, M., & Winfield, A. F. (2014). The distributed co-evolution of an on-board simulator and controller for swarm robot behaviours. Evolutionary Intelligence, 7(2), 95-106. https://doi.org/10.1007/s12065-014-0112-8
Journal Article Type | Article |
---|---|
Publication Date | Jan 1, 2014 |
Journal | Evolutionary Intelligence |
Print ISSN | 1864-5909 |
Electronic ISSN | 1864-5917 |
Publisher | Springer (part of Springer Nature) |
Peer Reviewed | Peer Reviewed |
Volume | 7 |
Issue | 2 |
Pages | 95-106 |
DOI | https://doi.org/10.1007/s12065-014-0112-8 |
Keywords | evolutionary robotics, swarm robotics, distributed evolution, online evolution |
Public URL | https://uwe-repository.worktribe.com/output/813718 |
Publisher URL | http://dx.doi.org/10.1007/s12065-014-0112-8 |
Additional Information | Additional Information : The final publication is available at Springer via http://dx.doi.org/doi:10.1007/s12065-014-0112-8 |
Files
ODowd_etal_Evo_Intelligence_finaldraft.pdf
(1.9 Mb)
PDF
You might also like
Painting by numbers: The development of texture in digitally printed artworks
(2015)
Book Chapter
The fluid dynamics of texture in digitally printed artworks
(2015)
Presentation / Conference
Painting by numbers: Transforming fields and edges vectors
(2015)
Presentation / Conference
Modulated extrusion for textured 3D printing
(2015)
Journal Article
Haptic reassurance in the pitch black for an immersive theatre experience
(2011)
Presentation / Conference