Open-ended on-board evolutionary robotics for robot swarms

  • Authors:

  • Guy Baele;Nicolas Bredeche;Evert Haasdijk;Steven Maere;Nico Michiels;Yves Van De Peer;Thomas Schmickl;Christopher Schwarzer;Ronald Thenius

  • Affiliations:

  • Ghent University, Applied Mathematics & Computer Science, Belgium and Ghent University, Department of Molecular Genetics, Belgium;TAO, INRIA Saclay, Univ. Paris-Sud, France;Computational Intelligence Group, Amsterdam Free University, Netherlands;Ghent University, Department of Molecular Genetics, Belgium;Animal Evolutionary Ecology Zoological Institute, University of Tuebingen, Germany;Ghent University, Department of Molecular Genetics, Belgium;Department for Zoology, University of Graz, Austria;Animal Evolutionary Ecology Zoological Institute, University of Tuebingen, Germany;Department for Zoology, University of Graz, Austria

  • Venue:
  • CEC'09 Proceedings of the Eleventh conference on Congress on Evolutionary Computation
  • Year:
  • 2009

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Abstract

The SYMBRION project stands at the crossroads of Artificial Life and Evolutionary Robotics: a swarm of real robots undergoes online evolution by exchanging information in a decentralized Evolutionary Robotics Scheme: the diffusion of each individual's genotype depends both on its ability to survive in an unknown environment as well as its ability to maximize mating opportunities during its lifetime, which suggests an implicit fitness. This paper presents early research and prospective ideas in the context of large-scale swarm robotics projects, focusing on the open-ended evolutionary approach in the SYMBRION project. One key issue of this work is to perform on-board evolution in a spatially distributed population of robots. A real-world experiment is also described which yields important considerations regarding open-ended evolution with real autonomous robots.