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Coordination control design of heterogeneous swarm robots by means of task-oriented optimization

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Abstract

This paper is concerned with a framework to design self-organizing, self-reconfigurable robotic systems. We focus our attention on the algorithm of a multi-agent system called Swarm Chemistry, proposed by Sayama (Artif Life 15:105–114, 2009). In this model, a number of agents that have non-uniform kinetic properties coalesce into an excellent diversity of spatial structures and/or emergent behaviors, depending on the kinetic parameters provided. However, such bottom-up nature cannot be easily applied to the conventional and top-down design of artifacts. This paper presents a method of designing heterogeneous robotic swarms and finding solutions through a genetic algorithm. Simulation results with a few simple task examples demonstrate that the proposed framework allows us to acquire appropriate sets of kinetic parameters, i.e. recipes, creating swarm structures to perform a given task more effectively and efficiently. Such autonomous robots can be deployed for the purposes like disaster prevention, geographical survey, and subsea exploration.

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Notes

  1. \(n_\mathrm{update} = n_\mathrm{indiv} - n_\mathrm{keep}\), where \(n_\mathrm{indiv}\) denotes the total number of individuals.

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Authors and Affiliations

  1. Graduate School of Information Science, Nagoya University, Furo-cho, Chikusa-ku, Nagoya, 464-8601, Japan

    Naoki Nishikawa, Reiji Suzuki & Takaya Arita

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  1. Naoki Nishikawa
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  2. Reiji Suzuki
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  3. Takaya Arita
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Correspondence to Naoki Nishikawa.

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Nishikawa, N., Suzuki, R. & Arita, T. Coordination control design of heterogeneous swarm robots by means of task-oriented optimization . Artif Life Robotics 21, 57–68 (2016). https://doi.org/10.1007/s10015-015-0255-4

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