Genetic programming: on the programming of computers by means of natural selection
Genetic programming: on the programming of computers by means of natural selection
Genetic Algorithms in Search, Optimization and Machine Learning
Genetic Algorithms in Search, Optimization and Machine Learning
Evolutionary Robotics: The Biology,Intelligence,and Technology
Evolutionary Robotics: The Biology,Intelligence,and Technology
Introduction to Formal Language Theory
Introduction to Formal Language Theory
Reinforcement Learning in the Multi-Robot Domain
Autonomous Robots
Grammatical Evolution: Evolutionary Automatic Programming in an Arbitrary Language
Grammatical Evolution: Evolutionary Automatic Programming in an Arbitrary Language
Cooperative Multi-Agent Learning: The State of the Art
Autonomous Agents and Multi-Agent Systems
Division of labor in a group of robots inspired by ants' foraging behavior
ACM Transactions on Autonomous and Adaptive Systems (TAAS)
Evolution of Signaling in a Multi-Robot System: Categorization and Communication
Adaptive Behavior - Animals, Animats, Software Agents, Robots, Adaptive Systems
Distributed evolution for swarm robotics
Distributed evolution for swarm robotics
Evolution of Solitary and Group Transport Behaviors for Autonomous Robots Capable of Self-Assembling
Adaptive Behavior - Animals, Animats, Software Agents, Robots, Adaptive Systems
Connection Science - Social Learning in Embodied Agents
GEVA: grammatical evolution in Java
ACM SIGEVOlution
Reinforcement learning: a survey
Journal of Artificial Intelligence Research
Genetic team composition and level of selection in the evolution of cooperation
IEEE Transactions on Evolutionary Computation
Self-organizing sync in a robotic swarm: a dynamical system view
IEEE Transactions on Evolutionary Computation
Development of abstract categories in embodied agents
ECAL'09 Proceedings of the 10th European conference on Advances in artificial life: Darwin meets von Neumann - Volume Part I
Swarm robotics: from sources of inspiration to domains of application
SAB'04 Proceedings of the 2004 international conference on Swarm Robotics
Self-Organized Coordinated Motion in Groups of Physically Connected Robots
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
Self-organized flocking with a mobile robot swarm: a novel motion control method
Adaptive Behavior - Animals, Animats, Software Agents, Robots, Adaptive Systems
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In this paper we propose GESwarm, a novel tool that can automatically synthesize collective behaviors for swarms of autonomous robots through evolutionary robotics. Evolutionary robotics typically relies on artificial evolution for tuning the weights of an artificial neural network that is then used as individual behavior representation. The main caveat of neural networks is that they are very difficult to reverse engineer, meaning that once a suitable solution is found, it is very difficult to analyze, to modify, and to tease apart the inherent principles that lead to the desired collective behavior. In contrast, our representation is based on completely readable and analyzable individual-level rules that lead to a desired collective behavior. The core of our method is a grammar that can generate a rich variety of collective behaviors. We test GESwarm by evolving a foraging strategy using a realistic swarm robotics simulator. We then systematically compare the evolved collective behavior against an hand-coded one for performance, scalability and flexibility, showing that collective behaviors evolved with GESwarm can outperform the hand-coded one.