Cooperative Coevolution of Control for a Real Multirobot System

  • Jorge GomesEmail author
  • Miguel Duarte
  • Pedro Mariano
  • Anders Lyhne Christensen
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 9921)


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.


Cooperative coevolution Evolutionary robotics Novelty search Reality gap Heterogeneous multirobot systems 



This work was supported by centre grant (to BioISI, Centre Reference: UID/MULTI/04046/2013), from FCT/MCTES/PIDDAC, Portugal, and by grants SFRH/BD/89095/2012 and UID/EEA/50008/2013.


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Copyright information

© Springer International Publishing AG 2016

Authors and Affiliations

  • Jorge Gomes
    • 1
    • 2
    • 3
    Email author
  • 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

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