7,832 research outputs found
Mantis: Enabling Energy-Efficient Autonomous Mobile Agents with Spiking Neural Networks
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
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
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
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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