Evolving a Novel Bio-inspired Controller in Reconfigurable Robots

Stradner, Jürgen; Hamann, Heiko; Schmickl, Thomas; Thenius, Ronald; Crailsheim, Karl

Evolving a Novel Bio-inspired Controller in Reconfigurable Robots

Files

There are no files associated with this item.

Date

2011

Authors

Stradner, Jürgen

Hamann, Heiko

Schmickl, Thomas

Thenius, Ronald

Crailsheim, Karl

Publication type

Contribution to a conference collection

Publication status

Published

Published in

Advances in Artificial Life - Darwin meets von Neumann : 10th European Conference, ECAL 2009, Budapest, Hungary, September 13-16, 2009, Revised Selected Papers, Part I / Kampis, George; Karsai, István; Szathmáry, Eörs (ed.). - Berlin : Springer, 2011. - (Lecture Notes in Artificial Intelligence ; 5777). - pp. 132-139. - ISSN 0302-9743. - eISSN 1611-3349. - ISBN 978-3-642-21282-6

Abstract

Evolutionary robotics uses evolutionary computation to optimize physically embodied agents. We present here a framework for performing off-line evolution of a pluripotent robot controller that manages to form multicellular robotic organisms from a swarm of autonomously moving small robot modules. We describe our evolutionary framework, show first results and discuss the advantages and disadvantages of our off-line evolution approach. In detail, we explain the single parts of the framework and a novel homeostatic hormone-based controller, which is shaped by artificial evolution to control both, the non-aggregated single robotic modules and the joined high-level robotic organisms. As a first step we present results of this evolutionary shaped controller showing the potential for different motion behaviours.

Subject (DDC)

004 Computer Science

Keywords

Motion Behaviour, Evolutionary Framework, Real Robot, Evolutionary Engine, Robot Controller

Conference

ECAL 2009 : 10th European Conference, Sep 13, 2009 - Sep 16, 2009, Budapest, Hungary

Cite This

ISO 690

STRADNER, Jürgen, Heiko HAMANN, Thomas SCHMICKL, Ronald THENIUS, Karl CRAILSHEIM, 2011. Evolving a Novel Bio-inspired Controller in Reconfigurable Robots. ECAL 2009 : 10th European Conference. Budapest, Hungary, Sep 13, 2009 - Sep 16, 2009. In: KAMPIS, George, ed., István KARSAI, ed., Eörs SZATHMÁRY, ed.. Advances in Artificial Life - Darwin meets von Neumann : 10th European Conference, ECAL 2009, Budapest, Hungary, September 13-16, 2009, Revised Selected Papers, Part I. Berlin:Springer, pp. 132-139. ISSN 0302-9743. eISSN 1611-3349. ISBN 978-3-642-21282-6. Available under: doi: 10.1007/978-3-642-21283-3_17

BibTex

@inproceedings{Stradner2011Evolv-59906,
  year={2011},
  doi={10.1007/978-3-642-21283-3_17},
  title={Evolving a Novel Bio-inspired Controller in Reconfigurable Robots},
  number={5777},
  isbn={978-3-642-21282-6},
  issn={0302-9743},
  publisher={Springer},
  address={Berlin},
  series={Lecture Notes in Artificial Intelligence},
  booktitle={Advances in Artificial Life - Darwin meets von Neumann : 10th European Conference, ECAL 2009, Budapest, Hungary, September 13-16, 2009, Revised Selected Papers, Part I},
  pages={132--139},
  editor={Kampis, George and Karsai, István and Szathmáry, Eörs},
  author={Stradner, Jürgen and Hamann, Heiko and Schmickl, Thomas and Thenius, Ronald and Crailsheim, Karl}
}

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/123456789/59906">
    <dc:contributor>Hamann, Heiko</dc:contributor>
    <dc:creator>Hamann, Heiko</dc:creator>
    <dcterms:issued>2011</dcterms:issued>
    <dcterms:title>Evolving a Novel Bio-inspired Controller in Reconfigurable Robots</dcterms:title>
    <dspace:isPartOfCollection rdf:resource="https://kops.uni-konstanz.de/server/rdf/resource/123456789/36"/>
    <dc:contributor>Schmickl, Thomas</dc:contributor>
    <bibo:uri rdf:resource="https://kops.uni-konstanz.de/handle/123456789/59906"/>
    <dc:language>eng</dc:language>
    <dc:creator>Schmickl, Thomas</dc:creator>
    <dc:contributor>Stradner, Jürgen</dc:contributor>
    <dc:creator>Stradner, Jürgen</dc:creator>
    <dcterms:isPartOf rdf:resource="https://kops.uni-konstanz.de/server/rdf/resource/123456789/36"/>
    <dc:rights>terms-of-use</dc:rights>
    <dc:creator>Thenius, Ronald</dc:creator>
    <foaf:homepage rdf:resource="http://localhost:8080/"/>
    <dcterms:rights rdf:resource="https://rightsstatements.org/page/InC/1.0/"/>
    <dcterms:abstract xml:lang="eng">Evolutionary robotics uses evolutionary computation to optimize physically embodied agents. We present here a framework for performing off-line evolution of a pluripotent robot controller that manages to form multicellular robotic organisms from a swarm of autonomously moving small robot modules. We describe our evolutionary framework, show first results and discuss the advantages and disadvantages of our off-line evolution approach. In detail, we explain the single parts of the framework and a novel homeostatic hormone-based controller, which is shaped by artificial evolution to control both, the non-aggregated single robotic modules and the joined high-level robotic organisms. As a first step we present results of this evolutionary shaped controller showing the potential for different motion behaviours.</dcterms:abstract>
    <dc:contributor>Thenius, Ronald</dc:contributor>
    <dc:creator>Crailsheim, Karl</dc:creator>
    <dc:contributor>Crailsheim, Karl</dc:contributor>
    <dc:date rdf:datatype="http://www.w3.org/2001/XMLSchema#dateTime">2023-01-24T09:31:07Z</dc:date>
    <dcterms:available rdf:datatype="http://www.w3.org/2001/XMLSchema#dateTime">2023-01-24T09:31:07Z</dcterms:available>
    <void:sparqlEndpoint rdf:resource="http://localhost/fuseki/dspace/sparql"/>
  </rdf:Description>
</rdf:RDF>

Bibliography of Konstanz

No