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Autonomous Task Allocation for Swarm Robotic Systems Using Behavioral Decomposition

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Intelligent and Evolutionary Systems

Part of the book series: Proceedings in Adaptation, Learning and Optimization ((PALO,volume 8))

Abstract

Swarm robotic systems (SRS) are a type of multi-robot systems, in which robots operate without any form of centralized control. In SRS, the generation of a complex swarm behavior resulting in robots being dynamically distributed over different sub-tasks requires an autonomous task allocation mechanism. It has been well recognized that evolutionary robotics with an evolving artificial neural network is a promising approach for generating collective swarm behavior. However, the artificial evolution often suffers from the bootstrap problem, especially when the underlying task is very complex. On the other hand, the behavioral decomposition, which is based on the divide-and-conquer thinking, has been reported to be effective for overcoming the bootstrap problem. In this paper, we describe how a behavioral decomposition based evolutionary robotics approach can be applied to synthesize a composite artificial neural network based controller for a complex task. The simulation results show the hierarchical strategy based evolutionary robotics approach is effective for generating autonomous task allocation behavior for a swarm robotic system.

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Notes

  1. 1.

    Box2D is an open-source physics engine, which can be found on http://box2d.org.

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Authors and Affiliations

  1. Graduate School of Engineering, Hiroshima University, 1-4-1, Kagamiyama, Higashi-Hiroshima, Hiroshima, 739-8527, Japan

    Yufei Wei, Toshiyuki Yasuda & Kazuhiro Ohkura

Authors
  1. Yufei Wei
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  2. Toshiyuki Yasuda
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  3. Kazuhiro Ohkura
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Corresponding author

Correspondence to Kazuhiro Ohkura .

Editor information

Editors and Affiliations

  1. School of Engineering and Information Technology, Australian Defence Force Academy, The University of New South Wales, Canberra, Australian Capital Territory, Australia

    George Leu

  2. School of Engineering and Information Technology, Australian Defence Force Academy, The University of New South Wales, Canberra, Australian Capital Territory, Australia

    Hemant Kumar Singh

  3. School of Engineering and Information Technology, Australian Defence Force Academy, The University of New South Wales, Canberra, Australian Capital Territory, Australia

    Saber Elsayed

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Wei, Y., Yasuda, T., Ohkura, K. (2017). Autonomous Task Allocation for Swarm Robotic Systems Using Behavioral Decomposition. In: Leu, G., Singh, H., Elsayed, S. (eds) Intelligent and Evolutionary Systems. Proceedings in Adaptation, Learning and Optimization, vol 8. Springer, Cham. https://doi.org/10.1007/978-3-319-49049-6_34

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  • DOI: https://doi.org/10.1007/978-3-319-49049-6_34

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-49048-9

  • Online ISBN: 978-3-319-49049-6

  • eBook Packages: EngineeringEngineering (R0)

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