AutoMoDe-Mate: Automatic off-line design of spatially-organizing behaviors for robot swarms
•Automatic methods can design spatially-organizing behaviors for robot swarms.•AutoMoDe-Mate is a design method specialized in spatial organization problems.•AutoMoDe-Mate includes a module that enables robot pattern formation.•Experiments with physical robots show effectiveness in coverage and netw...
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| Published in | Swarm and evolutionary computation Vol. 74; p. 101118 |
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| Main Authors | , , , , |
| Format | Journal Article |
| Language | English |
| Published |
Elsevier B.V
01.10.2022
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| Subjects | |
| Online Access | Get full text |
| ISSN | 2210-6502 2210-6510 |
| DOI | 10.1016/j.swevo.2022.101118 |
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| Abstract | •Automatic methods can design spatially-organizing behaviors for robot swarms.•AutoMoDe-Mate is a design method specialized in spatial organization problems.•AutoMoDe-Mate includes a module that enables robot pattern formation.•Experiments with physical robots show effectiveness in coverage and networking.•AutoMoDe-Mate outperforms baseline modular and neuro-evolutionary methods.
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We present Mate, an automatic off-line design method specialized in the design of spatially-organizing behaviors for robot swarms. Mate belongs to the family of modular methods known as AutoMoDe. We introduce Mate to study the automatic design of collective behaviors for missions in which the swarm is subject to spatial distribution constrains. In this paper, we produce control software for three missions with specifications related to the distribution of the swarm in the environment. We conduct experiments in simulation and with a swarm of 20 e-puck robots. Alongside Mate, we also conduct experiments with two other automatic design methods: Chocolate—a state-of-the-art instance of AutoMoDe; and EvoSpace—a method based on neuro-evolution. Early studies conducted with existing modular design methods have shown their limitations in the design of spatially-organizing behaviors for robots that operate under spatial constrains. By introducing a specialized method like Mate, we expect to overcome these limitations. The aggregate results of our experiments show that Mate performs significantly better than Chocolate and EvoSpace in the missions we consider. |
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| AbstractList | •Automatic methods can design spatially-organizing behaviors for robot swarms.•AutoMoDe-Mate is a design method specialized in spatial organization problems.•AutoMoDe-Mate includes a module that enables robot pattern formation.•Experiments with physical robots show effectiveness in coverage and networking.•AutoMoDe-Mate outperforms baseline modular and neuro-evolutionary methods.
[Display omitted]
We present Mate, an automatic off-line design method specialized in the design of spatially-organizing behaviors for robot swarms. Mate belongs to the family of modular methods known as AutoMoDe. We introduce Mate to study the automatic design of collective behaviors for missions in which the swarm is subject to spatial distribution constrains. In this paper, we produce control software for three missions with specifications related to the distribution of the swarm in the environment. We conduct experiments in simulation and with a swarm of 20 e-puck robots. Alongside Mate, we also conduct experiments with two other automatic design methods: Chocolate—a state-of-the-art instance of AutoMoDe; and EvoSpace—a method based on neuro-evolution. Early studies conducted with existing modular design methods have shown their limitations in the design of spatially-organizing behaviors for robots that operate under spatial constrains. By introducing a specialized method like Mate, we expect to overcome these limitations. The aggregate results of our experiments show that Mate performs significantly better than Chocolate and EvoSpace in the missions we consider. |
| ArticleNumber | 101118 |
| Author | Morais, Marcos R.A. Birattari, Mauro Mendiburu, Fernando J. Garzón Ramos, David Lima, Antonio M.N. |
| Author_xml | – sequence: 1 givenname: Fernando J. orcidid: 0000-0001-9186-4872 surname: Mendiburu fullname: Mendiburu, Fernando J. email: fernando.mendiburu@ee.ufcg.edu.br organization: IRIDIA, Université Libre de Bruxelles, Av. Franklin Roosevelt 50, Brussels, 1050, Belgium – sequence: 2 givenname: David orcidid: 0000-0001-7099-4213 surname: Garzón Ramos fullname: Garzón Ramos, David email: dgarzonr@ulb.ac.be organization: IRIDIA, Université Libre de Bruxelles, Av. Franklin Roosevelt 50, Brussels, 1050, Belgium – sequence: 3 givenname: Marcos R.A. orcidid: 0000-0002-3143-3648 surname: Morais fullname: Morais, Marcos R.A. email: morais@dee.ufcg.edu.br organization: Universidade Federal de Campina Grande, R. Aprígio Veloso, 882, Campina Grande, 58428-830, Paraíba, Brazil – sequence: 4 givenname: Antonio M.N. orcidid: 0000-0002-4568-9126 surname: Lima fullname: Lima, Antonio M.N. email: amnlima@dee.ufcg.edu.br organization: Universidade Federal de Campina Grande, R. Aprígio Veloso, 882, Campina Grande, 58428-830, Paraíba, Brazil – sequence: 5 givenname: Mauro orcidid: 0000-0003-3309-2194 surname: Birattari fullname: Birattari, Mauro email: mbiro@ulb.ac.be organization: IRIDIA, Université Libre de Bruxelles, Av. Franklin Roosevelt 50, Brussels, 1050, Belgium |
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| Cites_doi | 10.1126/scirobotics.abe4385 10.7717/peerj-cs.291 10.1162/neco.1992.4.1.1 10.1023/B:AURO.0000033970.96785.f2 10.4249/scholarpedia.1463 10.1109/MRA.2013.2252996 10.1371/journal.pone.0151834 10.7717/peerj-cs.322 10.1007/s11721-007-0009-6 10.1017/S000192400009223X 10.1007/s11721-015-0107-9 10.3390/app10134654 10.7717/peerj-cs.314 10.1016/j.micpro.2010.08.002 10.1007/s11721-008-0016-2 10.1038/s41467-021-24642-3 10.1007/s11721-014-0092-4 10.1177/1059712312462248 10.1109/70.736776 10.1038/s42256-020-0215-0 10.1162/106365601750190398 10.3389/frobt.2019.00059 10.1162/106365602320169811 10.1007/s11721-012-0072-5 10.1007/s10846-014-0086-x 10.1007/s11721-016-0119-0 10.1109/TAC.2005.864190 10.1109/JPROC.2021.3072740 10.1126/scirobotics.aat0430 10.7717/peerj-cs.221 10.1126/science.1254295 10.1126/science.1245842 10.1177/0278364914525244 10.1177/027836498600500106 10.1108/17563780911005827 10.1007/s11721-012-0075-2 |
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| Keywords | Evolutionary robotics Automatic design Relative positioning AutoMoDe Spatially-organizing behaviors Swarm robotics |
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| SubjectTerms | Automatic design AutoMoDe Evolutionary robotics Relative positioning Spatially-organizing behaviors Swarm robotics |
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| Title | AutoMoDe-Mate: Automatic off-line design of spatially-organizing behaviors for robot swarms |
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