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Decentralized Approach to Evolve the Structure of Metamorphic Robots

Ababsa, Tarek and Djedi, Noureddine and Duthen, Yves and Cussat-Blanc, Sylvain Decentralized Approach to Evolve the Structure of Metamorphic Robots. (2013) In: IEEE Symposium on Artificial Life - ALIFE 2013, 16 April 2013 - 19 April 2013 (Singapore, Singapore).

(Document in English)

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Official URL: http://dx.doi.org/10.1109/ALIFE.2013.6602434


Metamorphic robots are robots that can change their shape by reorganizing the connectivity of their modules to adapt to new environments, perform new tasks, or recover from damages. In this paper we present a decentralized method for structural evolving of a class of lattice-based simulated metamorphic robots in a static environment. These robots are considered as a set of crystalline (compressible) modules that are able to connect or disconnect one from each another or even exchange information and energy with the neighbor modules in order to form various structures/patterns dynamically. Our approach is splitted in two layers: in the first layer a genetic algorithm is used to generate a number of well suited target configurations based on current information perceived from environment, while in the second layer a PacMan-like algorithm is used to make a plan for modules movement to transform the robot from its current pattern to the target pattern emerged in first layer.

Item Type:Conference or Workshop Item (Paper)
Additional Information:Thanks to IEEE editor. The definitive version is available at http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=6602434&tag=1
HAL Id:hal-01150342
Audience (conference):International conference proceedings
Uncontrolled Keywords:
Institution:French research institutions > Centre National de la Recherche Scientifique - CNRS (FRANCE)
Université de Toulouse > Institut National Polytechnique de Toulouse - Toulouse INP (FRANCE)
Université de Toulouse > Université Toulouse III - Paul Sabatier - UT3 (FRANCE)
Université de Toulouse > Université Toulouse - Jean Jaurès - UT2J (FRANCE)
Université de Toulouse > Université Toulouse 1 Capitole - UT1 (FRANCE)
Other partners > Université Mohamed Khider de Biskra (ALGERIA)
Laboratory name:
Deposited On:05 May 2015 12:28

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