Publikation:

An Evolutionary Robotics Approach to the Control of Plant Growth and Motion : Modeling Plants and Crossing the Reality Gap

Vorschaubild

Dateien

Zu diesem Dokument gibt es keine Dateien.

Datum

2016

Autor:innen

Hofstadler, Daniel Nicolas
Heinrich, Mary Katherine
Zahadat, Payam

Herausgeber:innen

Kontakt

ISSN der Zeitschrift

Electronic ISSN

ISBN

Bibliografische Daten

Verlag

Schriftenreihe

Auflagebezeichnung

URI (zitierfähiger Link)
DOI (zitierfähiger Link)
https://doi.org/10.1109/SASO.2016.8
ArXiv-ID

Internationale Patentnummer

Angaben zur Forschungsförderung

Projekt

Open Access-Veröffentlichung

Sammlungen

Informatik und Informationswissenschaft: Publikationen
Core Facility der Universität Konstanz

Gesperrt bis

Titel in einer weiteren Sprache

Publikationstyp
Beitrag zu einem Konferenzband
Publikationsstatus
Published

Erschienen in

CABRI, Giacomo, ed., Gauthier PICARD, ed., Niranjan SURI, ed.. IEEE 10th International Conference on Self-Adaptive and Self-Organizing Systems, SASO 2016, Proceedings. Piscataway, NJ: IEEE, 2016, pp. 21-30. eISSN 1949-3681. ISBN 978-1-5090-3534-2. Available under: doi: 10.1109/SASO.2016.8

Zusammenfassung

The self-organizing bio-hybrid collaboration of robots and natural plants allows for a variety of interesting applications. As an example we investigate how robots can beused to control the growth and motion of a natural plant, using LEDs to provide stimuli. We follow an evolutionary robotics approach where task performance is determined by monitoring the plant's reaction. First, we do initial plant experiments with simple, predetermined controllers. Then we use image sampling data as a model of the dynamics of the plant tip xy position. Second, we use this approach to evolve robot controllers in simulation. The task is to make the plant approach three predetermined, distinct points in anxy-plane. Finally, we test the evolved controllers in real plant experiments and find that we cross the reality gap successfully. We shortly describe how we have extended from plant tip to many points on the plant, for a model of the plant stem dynamics. Future work will extend to two-axes image sampling for a 3-d approach.

Zusammenfassung in einer weiteren Sprache

Fachgebiet (DDC)
004 Informatik

Schlagwörter

bio-hybrid, evolutionary robotics, reality gap, self-organization, plant modeling

Konferenz

SASO 2016 : 10th International Conference on Self-Adaptive and Self-Organizing Systems, 12. Sept. 2016 - 16. Sept. 2016, Augsburg, Germany
Rezension
undefined / . - undefined, undefined

Forschungsvorhaben

Organisationseinheiten

Zeitschriftenheft

Zugehörige Datensätze in KOPS

Zitieren

ISO 690WAHBY, Mostafa, Daniel Nicolas HOFSTADLER, Mary Katherine HEINRICH, Payam ZAHADAT, Heiko HAMANN, 2016. An Evolutionary Robotics Approach to the Control of Plant Growth and Motion : Modeling Plants and Crossing the Reality Gap. SASO 2016 : 10th International Conference on Self-Adaptive and Self-Organizing Systems. Augsburg, Germany, 12. Sept. 2016 - 16. Sept. 2016. In: CABRI, Giacomo, ed., Gauthier PICARD, ed., Niranjan SURI, ed.. IEEE 10th International Conference on Self-Adaptive and Self-Organizing Systems, SASO 2016, Proceedings. Piscataway, NJ: IEEE, 2016, pp. 21-30. eISSN 1949-3681. ISBN 978-1-5090-3534-2. Available under: doi: 10.1109/SASO.2016.8
BibTex
@inproceedings{Wahby2016Evolu-59883,
  year={2016},
  doi={10.1109/SASO.2016.8},
  title={An Evolutionary Robotics Approach to the Control of Plant Growth and Motion : Modeling Plants and Crossing the Reality Gap},
  isbn={978-1-5090-3534-2},
  publisher={IEEE},
  address={Piscataway, NJ},
  booktitle={IEEE 10th International Conference on Self-Adaptive and Self-Organizing Systems, SASO 2016, Proceedings},
  pages={21--30},
  editor={Cabri, Giacomo and Picard, Gauthier and Suri, Niranjan},
  author={Wahby, Mostafa and Hofstadler, Daniel Nicolas and Heinrich, Mary Katherine and Zahadat, Payam and Hamann, Heiko}
}
RDF
<rdf:RDF
    xmlns:dcterms="http://purl.org/dc/terms/"
    xmlns:dc="http://purl.org/dc/elements/1.1/"
    xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#"
    xmlns:bibo="http://purl.org/ontology/bibo/"
    xmlns:dspace="http://digital-repositories.org/ontologies/dspace/0.1.0#"
    xmlns:foaf="http://xmlns.com/foaf/0.1/"
    xmlns:void="http://rdfs.org/ns/void#"
    xmlns:xsd="http://www.w3.org/2001/XMLSchema#" > 
  <rdf:Description rdf:about="https://kops.uni-konstanz.de/server/rdf/resource/123456789/59883">
    <dcterms:title>An Evolutionary Robotics Approach to the Control of Plant Growth and Motion : Modeling Plants and Crossing the Reality Gap</dcterms:title>
    <dcterms:issued>2016</dcterms:issued>
    <dc:creator>Heinrich, Mary Katherine</dc:creator>
    <dc:creator>Wahby, Mostafa</dc:creator>
    <dc:creator>Hofstadler, Daniel Nicolas</dc:creator>
    <dc:contributor>Zahadat, Payam</dc:contributor>
    <dspace:isPartOfCollection rdf:resource="https://kops.uni-konstanz.de/server/rdf/resource/123456789/36"/>
    <dc:contributor>Hamann, Heiko</dc:contributor>
    <dcterms:abstract xml:lang="eng">The self-organizing bio-hybrid collaboration of robots and natural plants allows for a variety of interesting applications. As an example we investigate how robots can beused to control the growth and motion of a natural plant, using LEDs to provide stimuli. We follow an evolutionary robotics approach where task performance is determined by monitoring the plant's reaction. First, we do initial plant experiments with simple, predetermined controllers. Then we use image sampling data as a model of the dynamics of the plant tip xy position. Second, we use this approach to evolve robot controllers in simulation. The task is to make the plant approach three predetermined, distinct points in anxy-plane. Finally, we test the evolved controllers in real plant experiments and find that we cross the reality gap successfully. We shortly describe how we have extended from plant tip to many points on the plant, for a model of the plant stem dynamics. Future work will extend to two-axes image sampling for a 3-d approach.</dcterms:abstract>
    <dc:contributor>Heinrich, Mary Katherine</dc:contributor>
    <dcterms:isPartOf rdf:resource="https://kops.uni-konstanz.de/server/rdf/resource/123456789/36"/>
    <dc:rights>terms-of-use</dc:rights>
    <dc:date rdf:datatype="http://www.w3.org/2001/XMLSchema#dateTime">2023-01-23T10:28:10Z</dc:date>
    <dc:contributor>Wahby, Mostafa</dc:contributor>
    <foaf:homepage rdf:resource="http://localhost:8080/"/>
    <dc:creator>Zahadat, Payam</dc:creator>
    <dcterms:available rdf:datatype="http://www.w3.org/2001/XMLSchema#dateTime">2023-01-23T10:28:10Z</dcterms:available>
    <bibo:uri rdf:resource="https://kops.uni-konstanz.de/handle/123456789/59883"/>
    <dc:language>eng</dc:language>
    <dcterms:rights rdf:resource="https://rightsstatements.org/page/InC/1.0/"/>
    <dc:contributor>Hofstadler, Daniel Nicolas</dc:contributor>
    <dc:creator>Hamann, Heiko</dc:creator>
    <void:sparqlEndpoint rdf:resource="http://localhost/fuseki/dspace/sparql"/>
  </rdf:Description>
</rdf:RDF>

Interner Vermerk

xmlui.Submission.submit.DescribeStep.inputForms.label.kops_note_fromSubmitter

Kontakt
URL der Originalveröffentl.

Prüfdatum der URL

Prüfungsdatum der Dissertation

Finanzierungsart

Kommentar zur Publikation

Allianzlizenz
Corresponding Authors der Uni Konstanz vorhanden
Internationale Co-Autor:innen
Universitätsbibliographie
Nein
Begutachtet
Diese Publikation teilen