(Evolutionary) Swarm Robotics: A Gentle Introduction
Swarm RoboticsDistributed Embodied Evolutionary Robotics(Evolutionary) Swarm Robotics: a gentleintroductionIñaki Fernández Pérezinaki.fernandez@loria.frwww.loria.fr/ fernandiISAL Student Group ECAL 2017September 8th 2017Université de Lorraine, LARSEN Team, Inria Nancy, France1 / 10
Swarm RoboticsDistributed Embodied Evolutionary RoboticsSo. . . what is a robot swarm?Large/huge set ofsimple agentsFocus in collectivedynamicsReal robots are cool. . .but simulation works too!2 / 10
Swarm RoboticsDistributed Embodied Evolutionary RoboticsSo. . . what is a robot swarm?Large/huge set ofsimple agentsFocus in collectivedynamicsReal robots are cool. . .but simulation works too!2 / 10
Swarm RoboticsDistributed Embodied Evolutionary RoboticsWhere to start. . . many approachesBy hand: engineering approach[Brambilla et al., 2013]Clones: classical EA with copies on each robot (homogeneous)[Tuci et al., 2008]Coevolution: either cooperative or competitive (heterogeneous)[Gomes et al., 2016](distributed) Embodied Evolution runs onboard on each robot(heterogeneous)[Watson et al., 2002, Fernández Pérez et al., 2017]3 / 10
Swarm RoboticsDistributed Embodied Evolutionary RoboticsWhat goals?ALife models to understand biology/test biological hypothesisALife tools to build systems that can solve a problem for us4 / 10
Swarm RoboticsDistributed Embodied Evolutionary RoboticsWhat robotic tasks?NavigationFlockingItem collectionForagingShepherding.5 / 10
Swarm RoboticsDistributed Embodied Evolutionary RoboticsControllers?Artificial Neural Networks (all flavors)Finite State MachinesDecision treesForce-field models. . . And evolution of morphology too!6 / 10
Swarm RoboticsDistributed Embodied Evolutionary RoboticsControllers?Artificial Neural Networks (all flavors)Finite State MachinesDecision treesForce-field models. . . And evolution of morphology too!6 / 10
Swarm RoboticsDistributed Embodied Evolutionary RoboticsDistributed Embodied Evolutionary RoboticsEA on each robotEach robot runs its controllerController broadcast in limited rangeLocal selection and mutationSelectionVariationReplacement7 / 10
Swarm RoboticsDistributed Embodied Evolutionary RoboticsmEDEAga random()while true dofa 0.0, l for t 1 to Te doexec(ga )fa update fitness(ga )broadcast(ga , fa )Sl l listen()Sl l {(ga , fa )}ga mutate(select(l))[Bredèche et al., 2012]Selectionin the local list8 / 10
Swarm RoboticsDistributed Embodied Evolutionary RoboticsmEDEAga random()while true dofa 0.0, l for t 1 to Te doexec(ga )fa update fitness(ga )broadcast(ga , fa )Sl l listen()Sl l {(ga , fa )}ga mutate(select(l))[Bredèche et al., 2012]Selectionin the local list8 / 10
rebrand.ly/FernandezECAL2017
Swarm RoboticsDistributed Embodied Evolutionary RoboticsTake-home messageMany open questions, many opportunitiesCollective dynamics are complex (but fun)Consider both ways of ALife (eng.,biol.) with robot swarms10 / 10
References IBrambilla, M., Ferrante, E., Birattari, M., and Dorigo, M. (2013).Swarm robotics: a review from the swarm engineering perspective.Swarm Intelligence, 7(1):1–41.Bredèche, N., Montanier, J.-M., Liu, W., and Winfield, A. (2012).Environment-driven Distributed Evolutionary Adaptation in a Population of Autonomous Robotic Agents.Mathematical and Computer Modelling of Dynamical Systems, 18(1):101–129.Fernández Pérez, I., Boumaza, A., and Charpillet, F. (2017).Learning Collaborative Foraging in a Swarm of Robots using Embodied Evolution.In ECAL 2017 – 14th European Conference on Artificial Life, Lyon, France. Inria.Gomes, J., Duarte, M., Mariano, P., and Christensen, A. L. (2016).Cooperative coevolution of control for a real multirobot system.In International Conference on Parallel Problem Solving from Nature, pages 591–601. Springer.1/2
References IITuci, E., Ampatzis, C., Vicentini, F., and Dorigo, M. (2008).Evolving homogeneous neurocontrollers for a group of heterogeneous robots: Coordinated motion,cooperation, and acoustic communication.Artificial Life, 14(2):157–178.Watson, R. A., Ficici, S. G., and Pollack, J. B. (2002).Embodied evolution: Distributing an evolutionary algorithm in a population of robots.Robotics and Autonomous Syst.Elsevier.2/2
Swarm Robotics Distributed Embodied Evolutionary Robotics (Evolutionary) Swarm Robotics: a gentle introduction Inaki Fern andez P erez inaki.fernandez@loria.fr
By default, Docker Swarm is disabled, so to run Docker in swarm mode, you will need to either join an existing cluster or create a new swarm. To create a new swarm and activate it in your system, you use the swarm init command shown here: docker swarm init This will create a new single-node swarm cluster on the node you are currently working on.
The Future of Robotics 269 22.1 Space Robotics 273 22.2 Surgical Robotics 274 22.3 Self-Reconfigurable Robotics 276 22.4 Humanoid Robotics 277 22.5 Social Robotics and Human-Robot Interaction 278 22.6 Service, Assistive and Rehabilitation Robotics 280 22.7 Educational Robotics 283
The CPS design approach is tightly tied to the concepts of sensor networks and robotics . Digital Systems & Technology Swarm intelligence & robotics Swarm intelligence5 is an emerging AI field inspired by the behavioral models of social insects (ants, bees, wasps, etc.). A swarm combines the power of many minds into one, allowing the system .
evolutionary biology. From this point of view, some authors have tried to extend the Darwinian theory universally beyond the domain of evolutionary biology (Cf. Dawkins, 1983), using the three principles of evolutionary theory (inheritance or retention, variation, and adaptation) as a heuristic for evolutionary economic theorizing (Campbell, 1965).
Swarm intelligence Swarm intelligence collection of intelligent techniques inspired by the collective behavior of some self -organizing systems The name was coined in 1989 by Gerardo Beni and Jing Wang in the context of control systems for robots The swarm intelligence techniques use sets of agents characterized by:
First, install Docker CE on the machine (refer to the prior sections on installing Docker CE). Initialize the swarm: Note: Set --advertise-addr to an address that other nodes in the swarm will see this node as. docker swarm init --advertise-addr advertise address We can find information about the current state of the swarm using docker info.
2.5 Quick start tutorial This short tutorial is designed to get the user using SWARM productively in just a few minutes. Note that SWARM is set to open in a window that will fit on a 1024x768 screen. SWARM is significantly more usuable at higher resolutions. Helicorders display a large
IBM Security Directory Integrator Version 7.2 Installation andAdministrator Guide SC27-2705-02
