Evolving Behaviour Trees for Swarm Robotics

Part of the Springer Proceedings in Advanced Robotics book series (SPAR, volume 6)


Controllers for swarms of robots are hard to design as swarm behaviour emerges from their interaction, and so controllers are often evolved. However, these evolved controllers are often difficult to understand, limiting our ability to predict swarm behaviour. We suggest behaviour trees are a good control architecture for swarm robotics, as they are comprehensible and promote modular reuse. We design a foraging task for kilobots and evolve a behaviour tree capable of performing that task, both in simulation and reality, and show the controller is compact and understandable.


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© Springer International Publishing AG 2018

Authors and Affiliations

  1. 1.Bristol Robotics LaboratoryUniversity of the West of EnglandBristolUK

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