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An investigation of environmental influence on the benefits of adaptation mechanisms in evolutionary swarm robotics

Steyven, Andreas; Hart, Emma; Paechter, Ben

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Abstract

A robotic swarm that is required to operate for long periods in a potentially unknown environment can use both evolution and individual learning methods in order to adapt. However, the role played by the environment in influencing the effectiveness of each type of learning is not well understood. In this paper, we specifically address this question by analysing the performance of a swarm in a range of simulated, dynamic environments where a distributed evolutionary algorithm for evolving a controller is augmented with a number of different individual learning mechanisms. The learning mechanisms themselves are defined by parameters which can be either fixed or inherited. We conduct experiments in a range of dynamic environments whose characteristics are varied so as to present different opportunities for learning. Results enable us to map environmental characteristics to the most effective learning algorithm.

Presentation Conference Type Conference Paper (Published)
Conference Name Genetic and Evolutionary Computation Conference - GECCO '17
Start Date Jul 15, 2017
End Date Jul 19, 2017
Acceptance Date Mar 20, 2017
Online Publication Date Jan 1, 2017
Publication Date 2017
Deposit Date Apr 3, 2017
Publicly Available Date May 3, 2017
Publisher Association for Computing Machinery (ACM)
Pages 155-162
Book Title GECCO '17 Proceedings of the Genetic and Evolutionary Computation Conference
Chapter Number unknown
ISBN 9781450349208
DOI https://doi.org/10.1145/3071178.3071232
Keywords Evolutionary Swarm Robotics, Environment, Learning
Public URL http://researchrepository.napier.ac.uk/Output/823533
Contract Date May 3, 2017

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Copyright Statement
© 2017 ACM. This is the author's version of the work. It is posted
here for your personal use. Not for redistribution. The de nitive
Version of Record was published in Proceedings of GECCO '17, July
15-19, 2017, http://dx.doi.org/http://dx.doi.org/10.1145/3071178.
3071232.


An Investigation of Environmental Infuence on the Benefi ts of Adaptation Mechanisms in Evolutionary Swarm Robotics (425 Kb)
PDF

Copyright Statement
© 2017 ACM. This is the author's version of the work. It is posted
here for your personal use. Not for redistribution. The de nitive
Version of Record was published in Proceedings of GECCO '17, July
15-19, 2017, http://dx.doi.org/http://dx.doi.org/10.1145/3071178.
3071232.







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