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

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##### Files
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2016
##### Authors
Heinrich, Mary Katherine
##### Publication type
Contribution to a conference collection
Published
##### Published in
IEEE 10th International Conference on Self-Adaptive and Self-Organizing Systems, SASO 2016, Proceedings / Cabri, Giacomo; Picard, Gauthier; Suri, Niranjan (ed.). - Piscataway, NJ : IEEE, 2016. - pp. 21-30. - eISSN 1949-3681. - ISBN 978-1-5090-3534-2
##### Abstract
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.
##### Subject (DDC)
004 Computer Science
##### Keywords
bio-hybrid, evolutionary robotics, reality gap, self-organization, plant modeling
##### Conference
SASO 2016 : 10th International Conference on Self-Adaptive and Self-Organizing Systems, Sep 12, 2016 - Sep 16, 2016, Augsburg, Germany
##### Cite This
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, Sep 12, 2016 - Sep 16, 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, 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},
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}
}

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