International Conference on Parallel Problem Solving from Nature

PPSN 2016: Parallel Problem Solving from Nature – PPSN XIV pp 591-601

Cooperative Coevolution of Control for a Real Multirobot System

  • Jorge Gomes
  • Miguel Duarte
  • Pedro Mariano
  • Anders Lyhne Christensen
Conference paper

DOI: 10.1007/978-3-319-45823-6_55

Volume 9921 of the book series Lecture Notes in Computer Science (LNCS)
Cite this paper as:
Gomes J., Duarte M., Mariano P., Christensen A.L. (2016) Cooperative Coevolution of Control for a Real Multirobot System. In: Handl J., Hart E., Lewis P., López-Ibáñez M., Ochoa G., Paechter B. (eds) Parallel Problem Solving from Nature – PPSN XIV. PPSN 2016. Lecture Notes in Computer Science, vol 9921. Springer, Cham

Abstract

The potential of cooperative coevolutionary algorithms (CCEAs) as a tool for evolving control for heterogeneous multirobot teams has been shown in several previous works. The vast majority of these works have, however, been confined to simulation-based experiments. In this paper, we present one of the first demonstrations of a real multirobot system, operating outside laboratory conditions, with controllers synthesised by CCEAs. We evolve control for an aquatic multirobot system that has to perform a cooperative predator-prey pursuit task. The evolved controllers are transferred to real hardware, and their performance is assessed in a non-controlled outdoor environment. Two approaches are used to evolve control: a standard fitness-driven CCEA, and novelty-driven coevolution. We find that both approaches are able to evolve teams that transfer successfully to the real robots. Novelty-driven coevolution is able to evolve a broad range of successful team behaviours, which we test on the real multirobot system.

Keywords

Cooperative coevolutionEvolutionary roboticsNovelty searchReality gapHeterogeneous multirobot systems

Copyright information

© Springer International Publishing AG 2016

Authors and Affiliations

  • Jorge Gomes
    • 1
    • 2
    • 3
  • Miguel Duarte
    • 1
    • 2
    • 4
  • Pedro Mariano
    • 3
  • Anders Lyhne Christensen
    • 1
    • 2
    • 4
  1. 1.BioMachines LabLisbonPortugal
  2. 2.Instituto de TelecomunicaçõesLisbonPortugal
  3. 3.BioISIFaculdade de Ciências da Universidade de LisboaLisbonPortugal
  4. 4.Instituto Universitário de Lisboa (ISCTE-IUL)LisbonPortugal