Embodied Evolution in Collective Robotics: A Review

This paper provides an overview of evolutionary robotics techniques applied to on-line distributed evolution for robot collectives -- namely, embodied evolution. It provides a definition of embodied evolution as well as a thorough description of the underlying concepts and mechanisms. The paper also presents a comprehensive summary of research published in the field since its inception (1999-2017), providing various perspectives to identify the major trends. In particular, we identify a shift from considering embodied evolution as a parallel search method within small robot collectives (fewer than 10 robots) to embodied evolution as an on-line distributed learning method for designing collective behaviours in swarm-like collectives. The paper concludes with a discussion of applications and open questions, providing a milestone for past and an inspiration for future research.Comment: 23 pages, 1 figure, 1 tabl

Control-data separation architecture for cellular radio access networks: a survey and outlook

Conventional cellular systems are designed to ensure ubiquitous coverage with an always present wireless channel irrespective of the spatial and temporal demand of service. This approach raises several problems due to the tight coupling between network and data access points, as well as the paradigm shift towards data-oriented services, heterogeneous deployments and network densification. A logical separation between control and data planes is seen as a promising solution that could overcome these issues, by providing data services under the umbrella of a coverage layer. This article presents a holistic survey of existing literature on the control-data separation architecture (CDSA) for cellular radio access networks. As a starting point, we discuss the fundamentals, concepts, and general structure of the CDSA. Then, we point out limitations of the conventional architecture in futuristic deployment scenarios. In addition, we present and critically discuss the work that has been done to investigate potential benefits of the CDSA, as well as its technical challenges and enabling technologies. Finally, an overview of standardisation proposals related to this research vision is provided

To Adapt or Not to Adapt: A Quantification Technique for Measuring an Expected Degree of Self-Adaptation

Self-adaptation and self-organization (SASO) have been introduced to the management of technical systems as an attempt to improve robustness and administrability. In particular, both mechanisms adapt the system’s structure and behavior in response to dynamics of the environment and internal or external disturbances. By now, adaptivity has been considered to be fully desirable. This position paper argues that too much adaptation conflicts with goals such as stability and user acceptance. Consequently, a kind of situation-dependent degree of adaptation is desired, which defines the amount and severity of tolerated adaptations in certain situations. As a first step into this direction, this position paper presents a quantification approach for measuring the current adaptation behavior based on generative, probabilistic models. The behavior of this method is analyzed in terms of three application scenarios: urban traffic control, the swidden farming model, and data communication protocols. Furthermore, we define a research roadmap in terms of six challenges for an overall measurement framework for SASO systems

Born to learn: The inspiration, progress, and future of evolved plastic artificial neural networks

Biological plastic neural networks are systems of extraordinary computational capabilities shaped by evolution, development, and lifetime learning. The interplay of these elements leads to the emergence of adaptive behavior and intelligence. Inspired by such intricate natural phenomena, Evolved Plastic Artificial Neural Networks (EPANNs) use simulated evolution in-silico to breed plastic neural networks with a large variety of dynamics, architectures, and plasticity rules: these artificial systems are composed of inputs, outputs, and plastic components that change in response to experiences in an environment. These systems may autonomously discover novel adaptive algorithms, and lead to hypotheses on the emergence of biological adaptation. EPANNs have seen considerable progress over the last two decades. Current scientific and technological advances in artificial neural networks are now setting the conditions for radically new approaches and results. In particular, the limitations of hand-designed networks could be overcome by more flexible and innovative solutions. This paper brings together a variety of inspiring ideas that define the field of EPANNs. The main methods and results are reviewed. Finally, new opportunities and developments are presented

On the Integration of Adaptive and Interactive Robotic Smart Spaces

© 2015 Mauro Dragone et al.. This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 3.0 License. (CC BY-NC-ND 3.0)Enabling robots to seamlessly operate as part of smart spaces is an important and extended challenge for robotics R&D and a key enabler for a range of advanced robotic applications, such as AmbientAssisted Living (AAL) and home automation. The integration of these technologies is currently being pursued from two largely distinct view-points: On the one hand, people-centred initiatives focus on improving the user’s acceptance by tackling human-robot interaction (HRI) issues, often adopting a social robotic approach, and by giving to the designer and - in a limited degree – to the final user(s), control on personalization and product customisation features. On the other hand, technologically-driven initiatives are building impersonal but intelligent systems that are able to pro-actively and autonomously adapt their operations to fit changing requirements and evolving users’ needs,but which largely ignore and do not leverage human-robot interaction and may thus lead to poor user experience and user acceptance. In order to inform the development of a new generation of smart robotic spaces, this paper analyses and compares different research strands with a view to proposing possible integrated solutions with both advanced HRI and online adaptation capabilities.Peer reviewe

Fairness Testing: Testing Software for Discrimination

This paper defines software fairness and discrimination and develops a testing-based method for measuring if and how much software discriminates, focusing on causality in discriminatory behavior. Evidence of software discrimination has been found in modern software systems that recommend criminal sentences, grant access to financial products, and determine who is allowed to participate in promotions. Our approach, Themis, generates efficient test suites to measure discrimination. Given a schema describing valid system inputs, Themis generates discrimination tests automatically and does not require an oracle. We evaluate Themis on 20 software systems, 12 of which come from prior work with explicit focus on avoiding discrimination. We find that (1) Themis is effective at discovering software discrimination, (2) state-of-the-art techniques for removing discrimination from algorithms fail in many situations, at times discriminating against as much as 98% of an input subdomain, (3) Themis optimizations are effective at producing efficient test suites for measuring discrimination, and (4) Themis is more efficient on systems that exhibit more discrimination. We thus demonstrate that fairness testing is a critical aspect of the software development cycle in domains with possible discrimination and provide initial tools for measuring software discrimination.Comment: Sainyam Galhotra, Yuriy Brun, and Alexandra Meliou. 2017. Fairness Testing: Testing Software for Discrimination. In Proceedings of 2017 11th Joint Meeting of the European Software Engineering Conference and the ACM SIGSOFT Symposium on the Foundations of Software Engineering (ESEC/FSE), Paderborn, Germany, September 4-8, 2017 (ESEC/FSE'17). https://doi.org/10.1145/3106237.3106277, ESEC/FSE, 201

A field-based computing approach to sensing-driven clustering in robot swarms

Swarm intelligence leverages collective behaviours emerging from interaction and activity of several “simple” agents to solve problems in various environments. One problem of interest in large swarms featuring a variety of sub-goals is swarm clustering, where the individuals of a swarm are assigned or choose to belong to zero or more groups, also called clusters. In this work, we address the sensing-based swarm clustering problem, where clusters are defined based on both the values sensed from the environment and the spatial distribution of the values and the agents. Moreover, we address it in a setting characterised by decentralisation of computation and interaction, and dynamicity of values and mobility of agents. For the solution, we propose to use the field-based computing paradigm, where computation and interaction are expressed in terms of a functional manipulation of fields, distributed and evolving data structures mapping each individual of the system to values over time. We devise a solution to sensing-based swarm clustering leveraging multiple concurrent field computations with limited domain and evaluate the approach experimentally by means of simulations, showing that the programmed swarms form clusters that well reflect the underlying environmental phenomena dynamics

Artificial Collective Intelligence Engineering: a Survey of Concepts and Perspectives

Collectiveness is an important property of many systems--both natural and artificial. By exploiting a large number of individuals, it is often possible to produce effects that go far beyond the capabilities of the smartest individuals, or even to produce intelligent collective behaviour out of not-so-intelligent individuals. Indeed, collective intelligence, namely the capability of a group to act collectively in a seemingly intelligent way, is increasingly often a design goal of engineered computational systems--motivated by recent techno-scientific trends like the Internet of Things, swarm robotics, and crowd computing, just to name a few. For several years, the collective intelligence observed in natural and artificial systems has served as a source of inspiration for engineering ideas, models, and mechanisms. Today, artificial and computational collective intelligence are recognised research topics, spanning various techniques, kinds of target systems, and application domains. However, there is still a lot of fragmentation in the research panorama of the topic within computer science, and the verticality of most communities and contributions makes it difficult to extract the core underlying ideas and frames of reference. The challenge is to identify, place in a common structure, and ultimately connect the different areas and methods addressing intelligent collectives. To address this gap, this paper considers a set of broad scoping questions providing a map of collective intelligence research, mostly by the point of view of computer scientists and engineers. Accordingly, it covers preliminary notions, fundamental concepts, and the main research perspectives, identifying opportunities and challenges for researchers on artificial and computational collective intelligence engineering.Comment: This is the author's final version of the article, accepted for publication in the Artificial Life journal. Data: 34 pages, 2 figure