On Adaptive Self-Organization in Artificial Robot Organisms

Abstract

Abstract-Self-organization in natural systems demonstrates very reliable and scalable collective behavior without using any central elements. When providing collective robotic systems with self-organizing principles, we are facing new problems of making self-organization purposeful, self-adapting to changing environments and faster, in order to meet requirements from a technical perspective. This paper describes on-going work of creating such an artificial self-organization within artificial robot organisms, performed in the framework of several European projects.

Self-organisation for Survival in Complex Computer Architectures

“…The individual robots each have an artificial immune system (AIS) that can determine when its operation is moving outside normal limits. In the higher robot organism, the immunological (performance) information is shared across an "immune network" that emerges naturally through the interactions of robots [21]. Kernbach et al [21] describe how the collection of robots moves from acting as a loose swarm, to a self-organised adaptive organism that can evolve solutions to problems of the environment (ranging from navigational issues and overcoming obstacles to dealing with malfunctions in some of the robots).…”

“…In the higher robot organism, the immunological (performance) information is shared across an "immune network" that emerges naturally through the interactions of robots [21]. Kernbach et al [21] describe how the collection of robots moves from acting as a loose swarm, to a self-organised adaptive organism that can evolve solutions to problems of the environment (ranging from navigational issues and overcoming obstacles to dealing with malfunctions in some of the robots). To support adaptivity, Kernbach et al [21] reward information acquisition from the environment.…”

“…Kernbach et al [21] describe how the collection of robots moves from acting as a loose swarm, to a self-organised adaptive organism that can evolve solutions to problems of the environment (ranging from navigational issues and overcoming obstacles to dealing with malfunctions in some of the robots). To support adaptivity, Kernbach et al [21] reward information acquisition from the environment. The information is used in maintenance of the robot organism, as the AIS of individual robots make adjustments to maintain the state of the higher organism (to maintain dynamic homeostasis).…”

“…In the SYMBRION project, Kernbach et al [21] describe the conceptual architecture of an adaptable, self-organising robot swarm that can form and maintain a higher robotic organism. The individual robots each have an artificial immune system (AIS) that can determine when its operation is moving outside normal limits.…”

Implementation of Distributed Mosaic Formation and Object Detection in Modular Robotic Systems

“…The communication network helps the robot modules to share their knowledge. In the recent research (Kernbach et al, 2009), a complicated modular robot is presented in which robot modules share their energy, memory and computing resources in the organism. An example of energy sharing, in terms of physical pull, is described in (Tuci et al, 2006) where multiple robot modules drag heavy objects.…”