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Evolving Behaviour Trees for Swarm Robotics

Research output: ResearchConference contribution

Original languageEnglish
Title of host publicationDistributed Autonomous Robotic Systems
Subtitle of host publication13th International Symposium on Distributed Autonomous Robotic Systems (DARS 2016)
Publisher or commissioning bodySpringer
Pages487-501
Number of pages15
ISBN (Electronic)9783319730080
ISBN (Print)9783319730066
DOIs
StatePublished - 14 Mar 2018
Event13th International Symposium on Distributed Autonomous Robotic Systems - Natural History Museum, London, United Kingdom
Duration: 6 Nov 20169 Nov 2016
http://dars2016.org

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
CityLondon
CountryUnited Kingdom
Web address (URL)
Degree of recognitionInternational event

Event: Conference

Documents

Documents

  • Full-text PDF (accepted author manuscript)

    Rights statement: This is the author accepted manuscript (AAM). The final published version (version of record) is available online via Springer at https://link.springer.com/chapter/10.1007/978-3-319-73008-0_34 . Please refer to any applicable terms of use of the publisher.

    Accepted author manuscript, 781 KB, PDF-document

    Embargo ends: 14/03/19

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DOI

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