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

Towards formal models and languages for verifiable Multi-Robot Systems

Incorrect operations of a Multi-Robot System (MRS) may not only lead to unsatisfactory results, but can also cause economic losses and threats to safety. These threats may not always be apparent, since they may arise as unforeseen consequences of the interactions between elements of the system. This call for tools and techniques that can help in providing guarantees about MRSs behaviour. We think that, whenever possible, these guarantees should be backed up by formal proofs to complement traditional approaches based on testing and simulation. We believe that tailored linguistic support to specify MRSs is a major step towards this goal. In particular, reducing the gap between typical features of an MRS and the level of abstraction of the linguistic primitives would simplify both the specification of these systems and the verification of their properties. In this work, we review different agent-oriented languages and their features; we then consider a selection of case studies of interest and implement them useing the surveyed languages. We also evaluate and compare effectiveness of the proposed solution, considering, in particular, easiness of expressing non-trivial behaviour.Comment: Changed formattin

Evolution of Neural Networks for Helicopter Control: Why Modularity Matters

The problem of the automatic development of controllers for vehicles for which the exact characteristics are not known is considered in the context of miniature helicopter flocking. A methodology is proposed in which neural network based controllers are evolved in a simulation using a dynamic model qualitatively similar to the physical helicopter. Several network architectures and evolutionary sequences are investigated, and two approaches are found that can evolve very competitive controllers. The division of the neural network into modules and of the task into incremental steps seems to be a precondition for success, and we analyse why this might be so

Evolution of Swarm Robotics Systems with Novelty Search

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

The bees algorithm: Modelling nature to solve complex optimisation problems

The Bees Algorithm models the foraging behaviour of honey bees in order to solve optimisation problems. The algorithm performs a kind of exploitative neighbourhood search combined with random explorative search. This paper describes the Bees Algorithm and presents two application examples: the training of neural networks to predict the energy efficiency of buildings, and the solution of the protein folding problem. The Bees Algorithm proved its effectiveness and speed, and obtained very competitive modelling accuracies compared with other state-of-the-art methods

Toward a collective intelligence recommender system for education

The development of Information and Communication Technology (ICT), have revolutionized the world and have moved us into the information age, however the access and handling of this large amount of information is causing valuable time losses. Teachers in Higher Education especially use the Internet as a tool to consult materials and content for the development of the subjects. The internet has very broad services, and sometimes it is difficult for users to find the contents in an easy and fast way. This problem is increasing at the time, causing that students spend a lot of time in search information rather than in synthesis, analysis and construction of new knowledge. In this context, several questions have emerged: Is it possible to design learning activities that allow us to value the information search and to encourage collective participation?. What are the conditions that an ICT tool that supports a process of information search has to have to optimize the student's time and learning? This article presents the use and application of a Recommender System (RS) designed on paradigms of Collective Intelligence (CI). The RS designed encourages the collective learning and the authentic participation of the students. The research combines the literature study with the analysis of the ICT tools that have emerged in the field of the CI and RS. Also, Design-Based Research (DBR) was used to compile and summarize collective intelligence approaches and filtering techniques reported in the literature in Higher Education as well as to incrementally improving the tool. Several are the benefits that have been evidenced as a result of the exploratory study carried out. Among them the following stand out: • It improves student motivation, as it helps you discover new content of interest in an easy way. • It saves time in the search and classification of teaching material of interest. • It fosters specialized reading, inspires competence as a means of learning. • It gives the teacher the ability to generate reports of trends and behaviors of their students, real-time assessment of the quality of learning material. The authors consider that the use of ICT tools that combine the paradigms of the CI and RS presented in this work, are a tool that improves the construction of student knowledge and motivates their collective development in cyberspace, in addition, the model of Filltering Contents used supports the design of models and strategies of collective intelligence in Higher Education.Postprint (author's final draft