Fast Damage Recovery in Robotics with the T-Resilience Algorithm

Damage recovery is critical for autonomous robots that need to operate for a long time without assistance. Most current methods are complex and costly because they require anticipating each potential damage in order to have a contingency plan ready. As an alternative, we introduce the T-resilience algorithm, a new algorithm that allows robots to quickly and autonomously discover compensatory behaviors in unanticipated situations. This algorithm equips the robot with a self-model and discovers new behaviors by learning to avoid those that perform differently in the self-model and in reality. Our algorithm thus does not identify the damaged parts but it implicitly searches for efficient behaviors that do not use them. We evaluate the T-Resilience algorithm on a hexapod robot that needs to adapt to leg removal, broken legs and motor failures; we compare it to stochastic local search, policy gradient and the self-modeling algorithm proposed by Bongard et al. The behavior of the robot is assessed on-board thanks to a RGB-D sensor and a SLAM algorithm. Using only 25 tests on the robot and an overall running time of 20 minutes, T-Resilience consistently leads to substantially better results than the other approaches

Taxis Equations for Amoeboid Cells

The classical macroscopic chemotaxis equations have previously been derived from an individual-based description of the tactic response of cells that use a "run-and-tumble" strategy in response to environmental cues. Here we derive macroscopic equations for the more complex type of behavioral response characteristic of crawling cells, which detect a signal, extract directional information from a scalar concentration field, and change their motile behavior accordingly. We present several models of increasing complexity for which the derivation of population-level equations is possible, and we show how experimentally-measured statistics can be obtained from the transport equation formalism. We also show that amoeboid cells that do not adapt to constant signals can still aggregate in steady gradients, but not in response to periodic waves. This is in contrast to the case of cells that use a "run-and-tumble" strategy, where adaptation is essential.Comment: 35 pages, submitted to the Journal of Mathematical Biolog

Adaptive initial step size selection for simultaneous perturbation stochastic approximation

A difficulty in using Simultaneous Perturbation Stochastics Approximation (SPSA) is its performance sensitivity to the step sizes chosen at the initial stage of the iteration. If the step size is too large, the solution estimate may fail to converge. The proposed adaptive stepping method automatically reduces the initial step size of the SPSA so that reduction of the objective function value occurs more reliably. Ten mathematical functions each with three different noise levels were used to empirically show the effectiveness of the proposed idea. A parameter estimation example of a nonlinear dynamical system is also included

From Individual to Collective Behavior of Unicellular Organisms: Recent Results and Open Problems

The collective movements of unicellular organisms such as bacteria or amoeboid (crawling) cells are often modeled by partial differential equations (PDEs) that describe the time evolution of cell density. In particular, chemotaxis equations have been used to model the movement towards various kinds of extracellular cues. Well-developed analytical and numerical methods for analyzing the time-dependent and time-independent properties of solutions make this approach attractive. However, these models are often based on phenomenological descriptions of cell fluxes with no direct correspondence to individual cell processes such signal transduction and cell movement. This leads to the question of how to justify these macroscopic PDEs from microscopic descriptions of cells, and how to relate the macroscopic quantities in these PDEs to individual-level parameters. Here we summarize recent progress on this question in the context of bacterial and amoeboid chemotaxis, and formulate several open problems