Information Sciences: an International Journal
Robotics and Autonomous Systems
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We are interested in the next generation of industrial robots, those that are able to operate in dynamic and unstructured environments and, consequently, that are able to adapt to changing circumstances or to work on different tasks in an autonomous way. In this sense, multirobot systems and, in particular, modular systems present several features like scalability, fault tolerance, low maintenance or reconfiguration capabilities that make them highly suitable for this kind of environments. The work presented here is concerned with the problem of automatically obtaining the morphology and control structure for this type of modular systems. In this line, we present the first results produced using a newly designed constructive evolutionary approach that takes into account the extreme difficulty of the tremendously deceptive and uninformative search space this type of applications are faced with. As an example, the algorithm is used to design the morphology and the distributed control parameters for a typical benchmark problem, that of moving as far as possible in a straight line, for a heterogeneous modular robotic system developed by our group.