Exploring using collaborating robots
|has title::LEGO Mindstorms robots with a ZCS controller in a simulated physical world|
|Master:||project within::Computational Intelligence and Selforganisation|
|Student name:||student name::Ernst Blaauw|
|Second reader:||has second reader::Guszti Eiben|
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.