7,832 research outputs found

    Mantis: Enabling Energy-Efficient Autonomous Mobile Agents with Spiking Neural Networks

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    Autonomous mobile agents such as unmanned aerial vehicles (UAVs) and mobile robots have shown huge potential for improving human productivity. These mobile agents require low power/energy consumption to have a long lifespan since they are usually powered by batteries. These agents also need to adapt to changing/dynamic environments, especially when deployed in far or dangerous locations, thus requiring efficient online learning capabilities. These requirements can be fulfilled by employing Spiking Neural Networks (SNNs) since SNNs offer low power/energy consumption due to sparse computations and efficient online learning due to bio-inspired learning mechanisms. However, a methodology is still required to employ appropriate SNN models on autonomous mobile agents. Towards this, we propose a Mantis methodology to systematically employ SNNs on autonomous mobile agents to enable energy-efficient processing and adaptive capabilities in dynamic environments. The key ideas of our Mantis include the optimization of SNN operations, the employment of a bio-plausible online learning mechanism, and the SNN model selection. The experimental results demonstrate that our methodology maintains high accuracy with a significantly smaller memory footprint and energy consumption (i.e., 3.32x memory reduction and 2.9x energy saving for an SNN model with 8-bit weights) compared to the baseline network with 32-bit weights. In this manner, our Mantis enables the employment of SNNs for resource- and energy-constrained mobile agents.Comment: To appear at the 2023 International Conference on Automation, Robotics and Applications (ICARA), February 2023, Abu Dhabi, UAE. arXiv admin note: text overlap with arXiv:2206.0865

    Ab Initio Modeling of Ecosystems with Artificial Life

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    Artificial Life provides the opportunity to study the emergence and evolution of simple ecosystems in real time. We give an overview of the advantages and limitations of such an approach, as well as its relation to individual-based modeling techniques. The Digital Life system Avida is introduced and prospects for experiments with ab initio evolution (evolution "from scratch"), maintenance, as well as stability of ecosystems are discussed.Comment: 13 pages, 2 figure

    A Distributed Epigenetic Shape Formation and Regeneration Algorithm for a Swarm of Robots

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    Living cells exhibit both growth and regeneration of body tissues. Epigenetic Tracking (ET), models this growth and regenerative qualities of living cells and has been used to generate complex 2D and 3D shapes. In this paper, we present an ET based algorithm that aids a swarm of identically-programmed robots to form arbitrary shapes and regenerate them when cut. The algorithm works in a distributed manner using only local interactions and computations without any central control and aids the robots to form the shape in a triangular lattice structure. In case of damage or splitting of the shape, it helps each set of the remaining robots to regenerate and position themselves to build scaled down versions of the original shape. The paper presents the shapes formed and regenerated by the algorithm using the Kilombo simulator.Comment: 8 pages, 9 figures, GECCO-18 conferenc

    Complex Systems: A Survey

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    A complex system is a system composed of many interacting parts, often called agents, which displays collective behavior that does not follow trivially from the behaviors of the individual parts. Examples include condensed matter systems, ecosystems, stock markets and economies, biological evolution, and indeed the whole of human society. Substantial progress has been made in the quantitative understanding of complex systems, particularly since the 1980s, using a combination of basic theory, much of it derived from physics, and computer simulation. The subject is a broad one, drawing on techniques and ideas from a wide range of areas. Here I give a survey of the main themes and methods of complex systems science and an annotated bibliography of resources, ranging from classic papers to recent books and reviews.Comment: 10 page
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