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A fitness-sharing based genetic algorithm for collaborative multi-robot localization

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Abstract

In this paper, a novel genetic algorithm based on a “collaborative” fitness-sharing technique to deal with the multi-robot localization problem is proposed. Indeed, the use of the fitness-sharing is twofold and competitive. It preserves the diversity among individuals during the space exploration process, thus maintaining evolutionary niches over time, and reinforces the best hypotheses by means of collaboration among robots, thus augmenting the selection pressure. Simulations by exploiting the robotics framework Player/Stage have been performed along with a proper statistical analysis for performance assessment.

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Authors and Affiliations

  1. Dipartimento di Informatica ed Automazione, Università degli studi “Roma Tre”, Via della Vasca Navale, 79, 00146, Rome, Italy

    Andrea Gasparri, Stefano Panzieri & Attilio Priolo

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  1. Andrea Gasparri
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  2. Stefano Panzieri
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  3. Attilio Priolo
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Correspondence to Andrea Gasparri.

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Gasparri, A., Panzieri, S. & Priolo, A. A fitness-sharing based genetic algorithm for collaborative multi-robot localization. Intel Serv Robotics 3, 137–149 (2010). https://doi.org/10.1007/s11370-010-0065-4

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  • DOI: https://doi.org/10.1007/s11370-010-0065-4

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