Exploring using collaborating robots

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has title::LEGO Mindstorms robots with a ZCS controller in a simulated physical world
status: finished
Master: project within::Computational Intelligence and Selforganisation
Student name: student name::Ernst Blaauw
number: student number::1337033
Dates
Start start date:=2008/03/01
End end date:=2010/01/13
Supervision
Supervisor: Martijn Schut
Second reader: has second reader::Guszti Eiben
Company: has company::VU
Poster: has poster::Media:Media:Posternaam.pdf

Signature supervisor



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Abstract

In this thesis, a Zeroth level Classifier System (ZCS) controller is compared to a hand-made controller. The experiments are done in a world with continuous time and space. Their task is surveillance. The controllers control a LEGO Mindstorms robot with 4 wheels, a touch sensor, a pen device and a camera which can track the pen track. The pen track fades over time, and is used by the controllers to communicate indirectly.

The experiments are done in three worlds. Each experiment features three robots with controllers of one type (either ZCS or hand-made). The ZCS controller has been optimized using a meta-evolutionary algorithm, but this did not yield better results than the not-optimized ZCS controller. Overall, the ZCS controller did not perform as good as the hand-made controller.