15,959 research outputs found

    Evolution of Swarm Robotics Systems with Novelty Search

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    Novelty search is a recent artificial evolution technique that challenges traditional evolutionary approaches. In novelty search, solutions are rewarded based on their novelty, rather than their quality with respect to a predefined objective. The lack of a predefined objective precludes premature convergence caused by a deceptive fitness function. In this paper, we apply novelty search combined with NEAT to the evolution of neural controllers for homogeneous swarms of robots. Our empirical study is conducted in simulation, and we use a common swarm robotics task - aggregation, and a more challenging task - sharing of an energy recharging station. Our results show that novelty search is unaffected by deception, is notably effective in bootstrapping the evolution, can find solutions with lower complexity than fitness-based evolution, and can find a broad diversity of solutions for the same task. Even in non-deceptive setups, novelty search achieves solution qualities similar to those obtained in traditional fitness-based evolution. Our study also encompasses variants of novelty search that work in concert with fitness-based evolution to combine the exploratory character of novelty search with the exploitatory character of objective-based evolution. We show that these variants can further improve the performance of novelty search. Overall, our study shows that novelty search is a promising alternative for the evolution of controllers for robotic swarms.Comment: To appear in Swarm Intelligence (2013), ANTS Special Issue. The final publication will be available at link.springer.co

    Embodied Evolution in Collective Robotics: A Review

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    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

    Multiobjective algorithms to optimize broadcasting parameters in mobile Ad-hoc networks

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    Congress on Evolutionary Computation. Singapore, 25-28 September 2007A mobile adhoc network (MANETs) is a self-configuring network of mobile routers (and associated hosts). The routers tend to move randomly and organize themselves arbitrarily; thus, the network's wireless topology may change fast and unpredictably. Nowadays, these networks are having a great influence due to the fact that they can create networks without a specific infrastructure. In MANETs message broadcasting is critical to network existence and organization. The broadcasting strategy in MANETs can be optimized by defining a multiobjective problem whose inputs are the broadcasting algorithm's parameters and whose objectives are: reaching as many stations as possible, minimizing the network utilization, and reducing the makespan. The network can be simulated to obtain the expected response to a given set of parameters. In this paper, we face this multiobjective problem with two algorithms: Multiobjective Particle Swarm Optimization and ESN (Evolution Strategy with NSGAII). Both algorithms are able to find an accurate approximation to the Pareto optimal front that is the solution of the problem. ESN improves the results of MOPSO in terms of the set coverage and hypervolume metrics used for comparison

    Hybridization of multi-objective deterministic particle swarm with derivative-free local searches

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    The paper presents a multi-objective derivative-free and deterministic global/local hybrid algorithm for the efficient and effective solution of simulation-based design optimization (SBDO) problems. The objective is to show how the hybridization of two multi-objective derivative-free global and local algorithms achieves better performance than the separate use of the two algorithms in solving specific SBDO problems for hull-form design. The proposed method belongs to the class of memetic algorithms, where the global exploration capability of multi-objective deterministic particle swarm optimization is enriched by exploiting the local search accuracy of a derivative-free multi-objective line-search method. To the authors best knowledge, studies are still limited on memetic, multi-objective, deterministic, derivative-free, and evolutionary algorithms for an effective and efficient solution of SBDO for hull-form design. The proposed formulation manages global and local searches based on the hypervolume metric. The hybridization scheme uses two parameters to control the local search activation and the number of function calls used by the local algorithm. The most promising values of these parameters were identified using forty analytical tests representative of the SBDO problem of interest. The resulting hybrid algorithm was finally applied to two SBDO problems for hull-form design. For both analytical tests and SBDO problems, the hybrid method achieves better performance than its global and local counterparts

    Towards a Better Understanding of the Local Attractor in Particle Swarm Optimization: Speed and Solution Quality

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    Particle Swarm Optimization (PSO) is a popular nature-inspired meta-heuristic for solving continuous optimization problems. Although this technique is widely used, the understanding of the mechanisms that make swarms so successful is still limited. We present the first substantial experimental investigation of the influence of the local attractor on the quality of exploration and exploitation. We compare in detail classical PSO with the social-only variant where local attractors are ignored. To measure the exploration capabilities, we determine how frequently both variants return results in the neighborhood of the global optimum. We measure the quality of exploitation by considering only function values from runs that reached a search point sufficiently close to the global optimum and then comparing in how many digits such values still deviate from the global minimum value. It turns out that the local attractor significantly improves the exploration, but sometimes reduces the quality of the exploitation. As a compromise, we propose and evaluate a hybrid PSO which switches off its local attractors at a certain point in time. The effects mentioned can also be observed by measuring the potential of the swarm

    An Investigation into the Merger of Stochastic Diffusion Search and Particle Swarm Optimisation

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    This study reports early research aimed at applying the powerful resource allocation mechanism deployed in Stochastic Diffusion Search (SDS) to the Particle Swarm Optimiser (PSO) metaheuristic, effectively merging the two swarm intelligence algorithms. The results reported herein suggest that the hybrid algorithm, exploiting information sharing between particles, has the potential to improve the optimisation capability of conventional PSOs

    Evolutionary Robot Vision for People Tracking Based on Local Clustering

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    This paper discusses the role of evolutionary computation in visual perception for partner robots. The search of evolutionary computation has many analogies with human visual search. First of all, we discuss the analogies between the evolutionary search and human visual search. Next, we propose the concept of evolutionary robot vision, and a human tracking method based on the evolutionary robot vision. Finally, we show experimental results of the human tracking to discuss the effectiveness of our proposed method
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