Evolving controllers for high-level applications on a service robot: a case study with exhibition visitor flow control

Authors:
Alex Fukunaga;Hideru Hiruma;Kazuki Komiya;Hitoshi Iba
Affiliations:
The University of Tokyo, Tokyo, Japan;The University of Tokyo, Tokyo, Japan;The University of Tokyo, Tokyo, Japan;The University of Tokyo, Tokyo, Japan
Venue:
Genetic Programming and Evolvable Machines
Year:
2012

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Abstract

We investigate the application of simulation-based genetic programming to evolve controllers that perform high-level tasks on a service robot. As a case study, we synthesize a controller for a guide robot that manages the visitor traffic flow in an exhibition space in order to maximize the enjoyment of the visitors. We used genetic programming in a low-fidelity simulation to evolve a controller for this task, which was then transferred to a service robot. An experimental evaluation of the evolved controller in both simulation and on the actual service robot shows that it performs well compared to hand-coded heuristics, and performs comparably to a human operator.