Co-evolution for Cooperative Behavior Acquisition in a Multiple Mobile Robot Environment

Abstract

Co-evolution has been receiving increased attention as a method for multi agent simultaneous learning. This paper discusses how multiple robots can emerge cooperative behaviors through co-evolutionary processes. As an example task, a simplied soccer game with three learning robots is selected and a genetic programming method is applied to individual population corresponding to each robot so as to obtain cooperative and competitive behaviors. The complexity of the problem can be explained twofold: co-evolution for cooperative behaviors needs exact synchronization of mutual evolutions, and three robot co-evolution requires well-complicated environment setups that may gradually change from simpler to more complicated situations. Simulation results are shown, and a discussion is given. 1 Introduction Realization o# a#tono#o## #o#ot# t#at o##anize t#ei# o#n inte#nal #t###t##e# to a##o##li## #i#en ta### t##o### inte#a#tion# #it# t#ei# en#i#on#ent# i# one o# t#e #lti#ate #oal# o# Ro#oti## a..