SymbricatorRTOS: a flexible and dynamic framework for bio-inspired robot control systems and evolution

Authors:
M. Szymanski;L. Winkler;D. Laneri;F. Schlachter;A. C. Van Rossum;T. Schmickl;R. Thenius
Affiliations:
Institute for Process Control and Robotics, Universität Karlsruhe, Karlsruhe, Germany;Institute for Process Control and Robotics, Universität Karlsruhe, Karlsruhe, Germany;Institute for Process Control and Robotics, Universität Karlsruhe, Karlsruhe, Germany;Institute of Parallel and Distributed Systems, University of Stuttgart, Stuttgart, Germany;Almende B.V., Rotterdam, Netherlands;Institute for Zoology, Karl-Franzens-University Graz, Graz, Austria;Institute for Zoology, Karl-Franzens-University Graz, Graz, Austria
Venue:
CEC'09 Proceedings of the Eleventh conference on Congress on Evolutionary Computation
Year:
2009

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Abstract

One of the main aspects of the 'SYMBRION' and 'REPLICATOR' projects is that the robots can aggregate to form a multi-robot organism. For this reason the control mechanisms have to be able to control a single robot, a swarm of robots or an aggregated collective organism. To break down the complexity of development and to take the interaction with the environment and other robots into account, bio-inspired and evolutionary concepts are applied. In this paper we describe the underlying software architecture for the projects to enable different controller types, evolution and learning.