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Maintaining Diversity in Robot Swarms with Distributed Embodied Evolution

Fernández Pérez, Iñaki and Boumaza, Amine and Charpillet, François Maintaining Diversity in Robot Swarms with Distributed Embodied Evolution. (2018) In: 11th International Conference on Swarm Intelligence (ANTS 2018), 29 October 2018 - 31 October 2018 (Rome, Italy).

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Official URL: https://doi.org/10.1007/978-3-030-00533-7_34

Abstract

In this paper, we investigate how behavioral diversity can be maintained in evolving robot swarms by using distributed Embodied Evolution. In these approaches, each robot in the swarm runs a separate evolutionary algorithm, and populations on each robot are built through local communication when robots meet; therefore, genome survival results not only from fitness-based selection but also from spatial spread. To better understand how diversity is maintained in distributed EE, we propose a postanalysis diversity measure, that we take from two perspectives, global diversity (over the swarm), and local diversity (on each robot), on two swarm robotic tasks (navigation and item collection), with different intensities of selection pressure, and compare the results of distributed EE to a centralized case. We conclude that distributed evolution intrinsically maintains a larger behavioral diversity when compared to centralized evolution, which allows for the search algorithm to reach higher performances, especially in the more challenging collection task.

Item Type:Conference or Workshop Item (Paper)
Additional Information:Thanks to Springer editor. This papers appears in Volume 11172 of Lecture Notes in Computer Science ISSN : 0302-9743 ISBN: 978-3-030-00532-0 The original PDF is available at: https://link.springer.com/chapter/10.1007/978-3-030-00533-7_34
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)
French research institutions > Institut National de la Recherche en Informatique et en Automatique - INRIA (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 de Lorraine (FRANCE)
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Deposited On:19 Apr 2019 14:32

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