The Emergence of Multi-Robot Organisms using On-line On-board Evolution
|has title::The Emergence of Multi-Robot Organisms using On-line On-board Evolution|
|Master:||project within::Technical Artificial Intelligence|
|Student name:||student name::Berend Weel|
|Second reader:||has second reader::Evert Haasdijk|
The fields of Swarm Robots and Self-Reconfigurable Modular Robotics are closely related, yet different. Both research the co-operation of robots to perform a task, however self-reconfigurable robots find their solution in a configuration (morphology, or form) of a multi-robot organism. Swarm robots find their solution in the self-organisation of their behaviour, and rarely aggregate into large organisms.
This last is where this research is focused, the transition of a robot swarm into a multi-robot organism, using an on-line on-board evolutionary algorithm. This approach is one where the environment, rather than a fitness function, determines the benefit of aggregating into a multi-robot organism. On-line and On-board for an evolutionary algorithm means that the robots themselves carry out the algorithm, rather than an external entity. This means that mutation, crossover, selection, and most importantly fitness evaluation is done by the robots themselves using only the information available to them (sensors).