An Innate Motivation to Tidy Your Room : Online Onboard Evolution of Manipulation Behaviors in a Robot Swarm

No Thumbnail Available
Files
There are no files associated with this item.
Date
2022
Authors
Lang, Christine
Marwitz, Florian Andreas
Charles, Christian
Dreier, Sven
Hannawald, Max Ferdinand
Begemann, Marian Johannes
Editors
Contact
Journal ISSN
Electronic ISSN
ISBN
Bibliographical data
Publisher
Series
URI (citable link)
DOI (citable link)
10.1007/978-3-030-92790-5_15
ArXiv-ID
International patent number
Link to the license
In Copyright
EU project number
Project
Open Access publication
Collections
Informatik und Informationswissenschaft
Restricted until
Title in another language
Research Projects
Organizational Units
Journal Issue
Publication type
Contribution to a conference collection
Publication status
Published
Published in
Distributed Autonomous Robotic Systems : 15th International Symposium : Conference Proceedings / Matsuno, Fumitoshi; Azuma, Shun-ichi; Yamamoto, Masahito (ed.). - Cham : Springer, 2022. - (Springer Proceedings in Advanced Robotics ; 22). - pp. 190-201. - ISSN 2511-1256. - eISSN 2511-1264. - ISBN 978-3-030-92789-9
Abstract
As our contribution to the effort of developing methods to make robots more adaptive and robust to dynamic environments, we have proposed our method of ‘minimal surprise’ in a series of previous works. In a multi-robot setting, we use evolutionary computation to evolve pairs of artificial neural networks: an actor network to select motor speeds and a predictor network to predict future sensor input. By rewarding for prediction accuracy, we give robots an innate, task-independent motivation to behave in structured and thus, predictable ways. While we previously focused on feasibility studies using abstract simulations, we now present our first results using realistic robot simulations and first experiments with real robot hardware. In a centralized online and onboard evolution approach, we show that minimize surprise works effectively on Thymio II robots in an area cleaning scenario.
Summary in another language
Subject (DDC)
004 Computer Science
Keywords
Online onboard evolution, Evolutionary swarm robotics, Object manipulation, Innate motivation, Task-independent fitness
Conference
DARS 2021 : 15th International Symposium Distributed Autonomous Robotic Systems, Jun 1, 2021 - Jun 4, 2021, Kyoto, Japan
Review
undefined / . - undefined, undefined. - (undefined; undefined)
Cite This
ISO 690KAISER, Tanja Katharina, Christine LANG, Florian Andreas MARWITZ, Christian CHARLES, Sven DREIER, Julian PETZOLD, Max Ferdinand HANNAWALD, Marian Johannes BEGEMANN, Heiko HAMANN, 2022. An Innate Motivation to Tidy Your Room : Online Onboard Evolution of Manipulation Behaviors in a Robot Swarm. DARS 2021 : 15th International Symposium Distributed Autonomous Robotic Systems. Kyoto, Japan, Jun 1, 2021 - Jun 4, 2021. In: MATSUNO, Fumitoshi, ed., Shun-ichi AZUMA, ed., Masahito YAMAMOTO, ed.. Distributed Autonomous Robotic Systems : 15th International Symposium : Conference Proceedings. Cham:Springer, pp. 190-201. ISSN 2511-1256. eISSN 2511-1264. ISBN 978-3-030-92789-9. Available under: doi: 10.1007/978-3-030-92790-5_15
BibTex
@inproceedings{Kaiser2022Innat-59706,
  year={2022},
  doi={10.1007/978-3-030-92790-5_15},
  title={An Innate Motivation to Tidy Your Room : Online Onboard Evolution of Manipulation Behaviors in a Robot Swarm},
  number={22},
  isbn={978-3-030-92789-9},
  issn={2511-1256},
  publisher={Springer},
  address={Cham},
  series={Springer Proceedings in Advanced Robotics},
  booktitle={Distributed Autonomous Robotic Systems : 15th International Symposium : Conference Proceedings},
  pages={190--201},
  editor={Matsuno, Fumitoshi and Azuma, Shun-ichi and Yamamoto, Masahito},
  author={Kaiser, Tanja Katharina and Lang, Christine and Marwitz, Florian Andreas and Charles, Christian and Dreier, Sven and Petzold, Julian and Hannawald, Max Ferdinand and Begemann, Marian Johannes 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/123456789/59706">
    <bibo:uri rdf:resource="https://kops.uni-konstanz.de/handle/123456789/59706"/>
    <dcterms:rights rdf:resource="https://rightsstatements.org/page/InC/1.0/"/>
    <dc:date rdf:datatype="http://www.w3.org/2001/XMLSchema#dateTime">2023-01-13T11:26:32Z</dc:date>
    <dc:creator>Hannawald, Max Ferdinand</dc:creator>
    <dc:contributor>Marwitz, Florian Andreas</dc:contributor>
    <dcterms:isPartOf rdf:resource="https://kops.uni-konstanz.de/server/rdf/resource/123456789/36"/>
    <dc:contributor>Hannawald, Max Ferdinand</dc:contributor>
    <foaf:homepage rdf:resource="http://localhost:8080/"/>
    <dcterms:available rdf:datatype="http://www.w3.org/2001/XMLSchema#dateTime">2023-01-13T11:26:32Z</dcterms:available>
    <dspace:isPartOfCollection rdf:resource="https://kops.uni-konstanz.de/server/rdf/resource/123456789/36"/>
    <dc:contributor>Begemann, Marian Johannes</dc:contributor>
    <dc:creator>Petzold, Julian</dc:creator>
    <dc:contributor>Lang, Christine</dc:contributor>
    <dc:language>eng</dc:language>
    <dc:creator>Hamann, Heiko</dc:creator>
    <dcterms:issued>2022</dcterms:issued>
    <dcterms:title>An Innate Motivation to Tidy Your Room : Online Onboard Evolution of Manipulation Behaviors in a Robot Swarm</dcterms:title>
    <dc:contributor>Kaiser, Tanja Katharina</dc:contributor>
    <dc:creator>Kaiser, Tanja Katharina</dc:creator>
    <dc:creator>Marwitz, Florian Andreas</dc:creator>
    <dc:rights>terms-of-use</dc:rights>
    <dc:contributor>Petzold, Julian</dc:contributor>
    <dc:creator>Begemann, Marian Johannes</dc:creator>
    <dc:contributor>Hamann, Heiko</dc:contributor>
    <dc:contributor>Dreier, Sven</dc:contributor>
    <dc:contributor>Charles, Christian</dc:contributor>
    <dc:creator>Charles, Christian</dc:creator>
    <void:sparqlEndpoint rdf:resource="http://localhost/fuseki/dspace/sparql"/>
    <dc:creator>Lang, Christine</dc:creator>
    <dc:creator>Dreier, Sven</dc:creator>
    <dcterms:abstract xml:lang="eng">As our contribution to the effort of developing methods to make robots more adaptive and robust to dynamic environments, we have proposed our method of ‘minimal surprise’ in a series of previous works. In a multi-robot setting, we use evolutionary computation to evolve pairs of artificial neural networks: an actor network to select motor speeds and a predictor network to predict future sensor input. By rewarding for prediction accuracy, we give robots an innate, task-independent motivation to behave in structured and thus, predictable ways. While we previously focused on feasibility studies using abstract simulations, we now present our first results using realistic robot simulations and first experiments with real robot hardware. In a centralized online and onboard evolution approach, we show that minimize surprise works effectively on Thymio II robots in an area cleaning scenario.</dcterms:abstract>
  </rdf:Description>
</rdf:RDF>
Internal note
xmlui.Submission.submit.DescribeStep.inputForms.label.kops_note_fromSubmitter
Contact
URL of original publication
Test date of URL
Examination date of dissertation
Method of financing
Comment on publication
Alliance license
Corresponding Authors der Uni Konstanz vorhanden
International Co-Authors
Bibliography of Konstanz
Yes
Refereed