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

A contribution to vision-based autonomous helicopter flight in urban environments

A navigation strategy that exploits the optic flow and inertial information to continuously avoid collisions with both lateral and frontal obstacles has been used to control a simulated helicopter flying autonomously in a textured urban environment. Experimental results demonstrate that the corresponding controller generates cautious behavior, whereby the helicopter tends to stay in the middle of narrow corridors, while its forward velocity is automatically reduced when the obstacle density increases. When confronted with a frontal obstacle, the controller is also able to generate a tight U-turn that ensures the UAV’s survival. The paper provides comparisons with related work, and discusses the applicability of the approach to real platforms

COORDINATION OF LEADER-FOLLOWER MULTI-AGENT SYSTEM WITH TIME-VARYING OBJECTIVE FUNCTION

This thesis aims to introduce a new framework for the distributed control of multi-agent systems with adjustable swarm control objectives. Our goal is twofold: 1) to provide an overview to how time-varying objectives in the control of autonomous systems may be applied to the distributed control of multi-agent systems with variable autonomy level, and 2) to introduce a framework to incorporate the proposed concept to fundamental swarm behaviors such as aggregation and leader tracking. Leader-follower multi-agent systems are considered in this study, and a general form of time-dependent artificial potential function is proposed to describe the varying objectives of the system in the case of complete information exchange. Using Lyapunov methods, the stability and boundedness of the agents\u27 trajectories under single order and higher order dynamics are analyzed. Illustrative numerical simulations are presented to demonstrate the validity of our results. Then, we extend these results for multi-agent systems with limited information exchange and switching communication topology. The first steps of the realization of an experimental framework have been made with the ultimate goal of verifying the simulation results in practice

On Aggregation of Unsupervised Deep Binary Descriptor with Weak Bits

Despite the thrilling success achieved by existing binary descriptors, most of them are still in the mire of three limitations: 1) vulnerable to the geometric transformations; 2) incapable of preserving the manifold structure when learning binary codes; 3) NO guarantee to find the true match if multiple candidates happen to have the same Hamming distance to a given query. All these together make the binary descriptor less effective, given large-scale visual recognition tasks. In this paper, we propose a novel learning-based feature descriptor, namely Unsupervised Deep Binary Descriptor (UDBD), which learns transformation invariant binary descriptors via projecting the original data and their transformed sets into a joint binary space. Moreover, we involve a ℓ2,1-norm loss term in the binary embedding process to gain simultaneously the robustness against data noises and less probability of mistakenly flipping bits of the binary descriptor, on top of it, a graph constraint is used to preserve the original manifold structure in the binary space. Furthermore, a weak bit mechanism is adopted to find the real match from candidates sharing the same minimum Hamming distance, thus enhancing matching performance. Extensive experimental results on public datasets show the superiority of UDBD in terms of matching and retrieval accuracy over state-of-the-arts

Minds Online: The Interface between Web Science, Cognitive Science, and the Philosophy of Mind

Alongside existing research into the social, political and economic impacts of the Web, there is a need to study the Web from a cognitive and epistemic perspective. This is particularly so as new and emerging technologies alter the nature of our interactive engagements with the Web, transforming the extent to which our thoughts and actions are shaped by the online environment. Situated and ecological approaches to cognition are relevant to understanding the cognitive significance of the Web because of the emphasis they place on forces and factors that reside at the level of agent–world interactions. In particular, by adopting a situated or ecological approach to cognition, we are able to assess the significance of the Web from the perspective of research into embodied, extended, embedded, social and collective cognition. The results of this analysis help to reshape the interdisciplinary configuration of Web Science, expanding its theoretical and empirical remit to include the disciplines of both cognitive science and the philosophy of mind

Designing as Construction of Representations: A Dynamic Viewpoint in Cognitive Design Research

This article presents a cognitively oriented viewpoint on design. It focuses on cognitive, dynamic aspects of real design, i.e., the actual cognitive activity implemented by designers during their work on professional design projects. Rather than conceiving de-signing as problem solving - Simon's symbolic information processing (SIP) approach - or as a reflective practice or some other form of situated activity - the situativity (SIT) approach - we consider that, from a cognitive viewpoint, designing is most appropriately characterised as a construction of representations. After a critical discussion of the SIP and SIT approaches to design, we present our view-point. This presentation concerns the evolving nature of representations regarding levels of abstraction and degrees of precision, the function of external representations, and specific qualities of representation in collective design. Designing is described at three levels: the organisation of the activity, its strategies, and its design-representation construction activities (different ways to generate, trans-form, and evaluate representations). Even if we adopt a "generic design" stance, we claim that design can take different forms depending on the nature of the artefact, and we propose some candidates for dimensions that allow a distinction to be made between these forms of design. We discuss the potential specificity of HCI design, and the lack of cognitive design research occupied with the quality of design. We close our discussion of representational structures and activities by an outline of some directions regarding their functional linkages