Artificial Life and Robotics

, Volume 23, Issue 4, pp 547–554 | Cite as

Evolving autonomous specialization in congested path formation task of robotic swarms

  • Motoaki Hiraga
  • Yufei Wei
  • Toshiyuki Yasuda
  • Kazuhiro OhkuraEmail author
Original Article


Redundancy in the number of robots is a fundamental feature of robotic swarms to confer robustness, flexibility, and scalability. However, robots tend to interfere with each other in a case, where multiple robots gather in a spatially limited environment. The aim of this paper is to understand how a robotic swarm develops an effective strategy to manage congestion. The controllers of the robots are obtained by an evolutionary robotics approach. The strategy of managing congestion is observed in the process of generating a collective path of robots visiting two landmarks alternately. The robotic swarm exhibits autonomous specialization that the robots traveling inside the path activate the LEDs, while the robots in the outer side deactivate them. We found that the congestion is regulated in an emergent way of autonomous specialization by the result of an artificial evolution.


Swarm robotics Evolutionary robotics Task specialization Division of labor 


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Copyright information

© ISAROB 2018

Authors and Affiliations

  • Motoaki Hiraga
    • 1
  • Yufei Wei
    • 1
  • Toshiyuki Yasuda
    • 2
  • Kazuhiro Ohkura
    • 1
    Email author
  1. 1.Graduate School of EngineeringHiroshima UniversityHigashi-HiroshimaJapan
  2. 2.Graduate School of Science and EngineeringUniversity of ToyamaToyamaJapan

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