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

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2022
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Lang, Christine
Marwitz, Florian Andreas
Charles, Christian
Dreier, Sven
Hannawald, Max Ferdinand
Begemann, Marian Johannes
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MATSUNO, Fumitoshi, ed., Shun-ichi AZUMA, ed., Masahito YAMAMOTO, ed.. Distributed Autonomous Robotic Systems : 15th International Symposium : Conference Proceedings. Cham: Springer, 2022, pp. 190-201. Springer Proceedings in Advanced Robotics. 22. ISSN 2511-1256. eISSN 2511-1264. ISBN 978-3-030-92789-9. Available under: doi: 10.1007/978-3-030-92790-5_15
Zusammenfassung

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.

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004 Informatik
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Online onboard evolution, Evolutionary swarm robotics, Object manipulation, Innate motivation, Task-independent fitness
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DARS 2021 : 15th International Symposium Distributed Autonomous Robotic Systems, 1. Juni 2021 - 4. Juni 2021, Kyoto, Japan
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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, 1. Juni 2021 - 4. Juni 2021. In: MATSUNO, Fumitoshi, ed., Shun-ichi AZUMA, ed., Masahito YAMAMOTO, ed.. Distributed Autonomous Robotic Systems : 15th International Symposium : Conference Proceedings. Cham: Springer, 2022, pp. 190-201. Springer Proceedings in Advanced Robotics. 22. 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}
}
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