Evolving Aggregation Behaviors in a Swarm of Robots

  • Vito Trianni
  • Roderich Groß
  • Thomas H. Labella
  • Erol Şahin
  • Marco Dorigo
Part of the Lecture Notes in Computer Science book series (LNCS, volume 2801)


In this paper, we study aggregation in a swarm of simple robots, called s − bots, having the capability to self-organize and self-assemble to form a robotic system, called a swarm − bot. The aggregation process, observed in many biological systems, is of fundamental importance since it is the prerequisite for other forms of cooperation that involve self-organization and self-assembling. We consider the problem of defining the control system for the swarm − bot using artificial evolution. The results obtained in a simulated 3D environment are presented and analyzed. They show that artificial evolution, exploiting the complex interactions among s − bots and between s − bots and the environment, is able to produce simple but general solutions to the aggregation problem.


Group Size Mobile Robot Swarm Intelligence Dictyostelium Discoideum Neural Controller 
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Copyright information

© Springer-Verlag Berlin Heidelberg 2003

Authors and Affiliations

  • Vito Trianni
    • 1
  • Roderich Groß
    • 1
  • Thomas H. Labella
    • 1
  • Erol Şahin
    • 2
  • Marco Dorigo
    • 1
  1. 1.IRIDIAUniversité Libre de BruxellesBelgium
  2. 2.Dept. of Computer EngineeringMiddle East Technical UniversityAnkaraTurkey

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