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AutoMoDe-Cedrata: Automatic Design of Behavior Trees for Controlling a Swarm of Robots with Communication Capabilities

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Behavior trees are a control architecture that has gained recent attention in AI and robotics. Previous research on the use of behavior trees in swarm robotics has shown the necessity for the behaviors to have proper return values, instead of running indefinitely. This work extends our previous work in which we defined AutoMoDe-Cedrata, an automatic modular design that makes use of modules that have been explicitly defined for behavior trees. While the search space is sufficiently large to include well-performing solutions, Cedrata had problems discovering communication-based strategies. In this work, we extend Cedrata by introducing Cedrata-GP and Cedrata-GE which are based on genetic programming and grammatical evolution, respectively. We test these design methods on two missions and compare the performance of the automatic design methods against the performance of solutions created by human designers. The results show that the structure of Cedrata allows for well-performing solutions that are reliably found by human designers. However, the automatic design methods fail to discover the same communication strategies as the human designers.

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The authors would like to thank João Correia, David Garzón Ramos, Miquel Kegeleirs, Fernando Mendiburu, and Federico Pagnozzi for their participation in the experiments. The project has received funding from the European Research Council (ERC) under the European Union’s Horizon 2020 research and innovation programme (DEMIURGE Project, grant agreement No 681872); from Belgium’s Wallonia-Brussels Federation through the ARC Advanced Project GbO–Guaranteed by Optimization; and from the Belgian Fonds de la Recherche Scientifique–FNRS via the crédit d’équippement SwarmSim. JK and MB acknowledge support from the Belgian Fonds de la Recherche Scientifique–FNRS.

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The experiments were designed and performed by JK and VP. The paper was drafted by JK and edited by MB; all authors read and commented the final version. The research was directed by MB.

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Correspondence to Jonas Kuckling.

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This article is part of the topical collection “Applications of bioinspired computing (to real world problems)” guest edited by Aniko Ekart, Pedro Castillo and Juanlu Jiménez-Laredo”.

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Kuckling, J., van Pelt, V. & Birattari, M. AutoMoDe-Cedrata: Automatic Design of Behavior Trees for Controlling a Swarm of Robots with Communication Capabilities. SN COMPUT. SCI. 3, 136 (2022).

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