Abstract
This paper deals with the problem of jointly designing the behaviors of a group of robots so as to produce a particular desired collaborative behavior in stigmergy-based settings. In this line, the approach followed has its roots on traditional evolutionary behavior based robotics techniques, but instead of trying to evolve the whole controller for a particular complex behavior in one step, an incremental approach is used by combining the results from different evolutionary/learning processes in different settings for the construction of a complete controller architecture. The key aspects when trying to generalize the process of obtaining the controllers from single robots to multi robot systems are discussed in the framework of a set of simple collaborative tasks, focusing the discussion on the utility functions that guide the evolution.
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Caamaño, P., Becerra, J.A., Duro, R.J., Bellas, F. (2007). Incremental Evolution of Stigmergy-Based Multi Robot Controllers Through Utility Functions. In: Apolloni, B., Howlett, R.J., Jain, L. (eds) Knowledge-Based Intelligent Information and Engineering Systems. KES 2007. Lecture Notes in Computer Science(), vol 4693. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-74827-4_148
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DOI: https://doi.org/10.1007/978-3-540-74827-4_148
Publisher Name: Springer, Berlin, Heidelberg
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