Academic Journal
Evolving Error Tolerance in BiologicallyInspired iAnt Robots
| العنوان: | Evolving Error Tolerance in BiologicallyInspired iAnt Robots |
|---|---|
| المؤلفون: | Joshua P. Hecker, Karl Stolleis, Bjorn Swenson, Kenneth Letendre, Melanie E. Moses |
| المساهمون: | The Pennsylvania State University CiteSeerX Archives |
| المصدر: | http://mitpress.mit.edu/sites/default/files/titles/content/ecal13/978-0-262-31709-2-ch153.pdf. |
| سنة النشر: | 2013 |
| المجموعة: | CiteSeerX |
| الوصف: | Evolutionary algorithms can adapt the behavior of individu-als to maximize the fitness of cooperative multi-agent teams. We use a genetic algorithm (GA) to optimize behavior in a team of simulated robots that mimic foraging ants, then trans-fer the evolved behaviors into physical iAnt robots. We in-troduce positional and resource detection error models into our simulation to characterize the empirically-measured sen-sor error in our physical robots. Physical and simulated robots that live in a world with error and use parameters adapted specifically for an error-prone world perform better than robots in the same error-prone world using parameters adapted for an error-free world. Additionally, teams of robots in error-adapted simulations collect resources at the same rate as the physical robots. Our approach extends state-of-the-art biologically-inspired robotics, evolving high-level behav-iors that are robust to sensor error and meaningful for phe-notypic analysis. This work demonstrates the utility of em-ploying evolutionary methods to optimize the performance of distributed robot teams in unknown environments. |
| نوع الوثيقة: | text |
| وصف الملف: | application/pdf |
| اللغة: | English |
| Relation: | http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.468.8681; http://mitpress.mit.edu/sites/default/files/titles/content/ecal13/978-0-262-31709-2-ch153.pdf |
| الاتاحة: | http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.468.8681 http://mitpress.mit.edu/sites/default/files/titles/content/ecal13/978-0-262-31709-2-ch153.pdf |
| Rights: | Metadata may be used without restrictions as long as the oai identifier remains attached to it. |
| رقم الانضمام: | edsbas.DA6ABF88 |
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