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Evolving behaviour trees for swarm robotics

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Original languageEnglish
Title of host publicationSpringer Tracts in Advanced Robotics
Subtitle of host publication13th International Symposium on Distributed Autonomous Robotic Systems (DARS 2016)
Publisher or commissioning bodySpringer
Number of pages14
StateAccepted/In press - 7 Sep 2016
Event13th International Symposium on Distributed Autonomous Robotic Systems - London, United Kingdom

Publication series

NameSpringer Tracts in Advanced Robotics
PublisherSpringer
ISSN (Print)1610-7438

Conference

Conference13th International Symposium on Distributed Autonomous Robotic Systems
Abbreviated titleDARS 2016
CountryUnited Kingdom
CityLondon
Period6/11/169/11/16
Internet address

Abstract

Controllers for swarms of robots are hard to design as swarm behaviour emerges from their interaction, and so controllers are often evolved. However, these evolved controllers are often difficult to understand, limiting our ability to predict swarm behaviour. We suggest behaviour trees are a good control architecture for swarm robotics, as they are comprehensible and promote modular reuse. We design a foraging task for kilobots and evolve a behaviour tree capable of performing that task, both in simulation and reality, and show the controller is compact and under- standable.

Event

13th International Symposium on Distributed Autonomous Robotic Systems

Abbreviated TitleDARS 2016
Duration6 Nov 20169 Nov 2016
Location of eventNatural History Museum
CityLondonCountryUnited KingdomWeb address (URL)Degree of recognitionInternational event

Event: Conference

Documents

Documents

  • Full-text PDF (accepted author manuscript)

    Accepted author manuscript, 781 KB, PDF-document

    Embargo ends: 1/01/99

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