Challenges in cooperative coevolution of physically heterogeneous robot teams
Natural Computing, ISSN: 1572-9796, Vol: 18, Issue: 1, Page: 29-46
2019
- 9Citations
- 26Captures
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Example: if you select the 1-year option for an article published in 2019 and a metric category shows 90%, that means that the article or review is performing better than 90% of the other articles/reviews published in that journal in 2019. If you select the 3-year option for the same article published in 2019 and the metric category shows 90%, that means that the article or review is performing better than 90% of the other articles/reviews published in that journal in 2019, 2018 and 2017.
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Article Description
Heterogeneous multirobot systems have shown significant potential in many applications. Cooperative coevolutionary algorithms (CCEAs) represent a promising approach to synthesise controllers for such systems, as they can evolve multiple co-adapted components. Although CCEAs allow for an arbitrary level of team heterogeneity, in previous works heterogeneity is typically only addressed at the behavioural level. In this paper, we study the use of CCEAs to evolve control for a heterogeneous multirobot system where the robots have disparate morphologies and capabilities. Our experiments rely on a simulated task where a simple ground robot must cooperate with a complex aerial robot to find and collect items. We first show that CCEAs can evolve successful controllers for physically heterogeneous teams, but find that differences in the complexity of the skills the robots need to learn can impair CCEAs’ effectiveness. We then study how different populations can use different evolutionary algorithms and parameters tuned to the agents’ complexity. Finally, we demonstrate how CCEAs’ effectiveness can be improved using incremental evolution or novelty-driven coevolution. Our study shows that, despite its limitations, coevolution is a viable approach for synthesising control for morphologically heterogeneous systems.
Bibliographic Details
http://www.scopus.com/inward/record.url?partnerID=HzOxMe3b&scp=84986310007&origin=inward; http://dx.doi.org/10.1007/s11047-016-9582-1; http://link.springer.com/10.1007/s11047-016-9582-1; http://link.springer.com/content/pdf/10.1007/s11047-016-9582-1.pdf; http://link.springer.com/article/10.1007/s11047-016-9582-1/fulltext.html; https://dx.doi.org/10.1007/s11047-016-9582-1; https://link.springer.com/article/10.1007/s11047-016-9582-1
Springer Science and Business Media LLC
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