Abstract
Many multi-robot systems are heterogeneous cooperative systems, systems consisting of different species of robots cooperating with each other to achieve a common goal. This paper presents the emergence of cooperative behaviors of heterogeneous robots by means of GP. Since directly using GP to generate a controller for complex behaviors is inefficient and intractable, especially in the domain of multi-robot systems, we propose an approach called Evolutionary Subsumption, which applies GP to subsumption architecture. We test our approach in an “eye”-“hand” cooperation problem. By comparing our approach with direct GP and artificial neural network (ANN) approaches, our experimental results show that ours is more efficient in emergence of complex behaviors.
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Liu, H., Iba, H. (2003). Multi-agent Learning of Heterogeneous Robots by Evolutionary Subsumption. In: Cantú-Paz, E., et al. Genetic and Evolutionary Computation — GECCO 2003. GECCO 2003. Lecture Notes in Computer Science, vol 2724. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-45110-2_64
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DOI: https://doi.org/10.1007/3-540-45110-2_64
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