Self-organized construction by population coding

Michael Niess, Heiko Hamann*

*Corresponding author for this work


The automatic generation of robot controllers by machine learning or evolutionary computation is still challenging and even more so for collective robotics. We follow the recently proposed paradigm of 'population coding' to compose robot swarms for collective construction. We define a controller template as finite state machine, enumerate a finite number of specified robot controller types to choose from, and use evolutionary robotics to evolve effective homogeneous and heterogeneous compositions of robot swarms using selections of these controllers. Besides an objective for solving the actual construction task we also add objectives for subtasks, and to minimize the number of different chosen robot types. For three variants of a collective construction task we find effective solutions with both homogeneous and heterogeneous swarms.

Original languageEnglish
Title of host publication2019 IEEE 4th International Workshops on Foundations and Applications of Self* Systems (FAS*W)
Number of pages6
Publication date06.2019
Article number8792005
ISBN (Print)978-1-7281-2407-0
ISBN (Electronic)978-1-7281-2406-3
Publication statusPublished - 06.2019
Event4th IEEE International Workshops on Foundations and Applications of Self* Systems - Umea, Sweden
Duration: 16.06.201920.06.2019
Conference number: 150757


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