Reconfigurable swarm robots produce self-assembling and self-repairing organisms

Levi, Paul; Meister, Eugen; Schlachter, Florian

doi:10.1016/j.robot.2014.07.001

Cited by 15 publications

(6 citation statements)

References 9 publications

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“…For researchers interested in ER, changes in morphology during a digitally simulated embodied agent's lifespan dramatically alter the impact of selection on the evolution of behavior (Bongard, 2011). To bridge the reality gap between the simulation of morphological changes and the physical instantiation of those changes, we can incorporate the methods of reconfigurable robots (Levi et al, 2014), self-assembling swarms (Rubenstein et al, 2014), and programmable matter (Toffoli and Margolus, 1991;Felton et al, 2014) to create PED. Combining PED with ER creates an approach, ERPED, exemplified in a preliminary and simple manner in this study.…”

Section: Discussionmentioning

confidence: 99%

Epigenetic Operators and the Evolution of Physically Embodied Robots

et al. 2017

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The genetic operators (GOs) of recombination, mutation, and selection are commonly included in studies of evolution and evolvability, but they are not the only operators that can affect the genotype-to-phenotype (G → P) map and thus the outcomes of evolution. In this paper, we present experiments with an epigenetic operator (EO), interactive wiring of a circuit, alongside common GOs, investigating both epigenetic and GO effects on the evolution of both simulated and physically embodied Braitenberg-inspired robots. As a platform for our experiments, we built a system that encoded the genetics for the physical circuitry of the analog robots and made explicit rules for how that circuitry would be constructed; phenotypic expression consisted of the placement of wires to form the circuitry and thus govern robot behavior. We then varied the presence of gene interactions across populations of robots, studying how the EO-and its effects on G → P maps-affected the results of evolution over several generations. Additionally, a variant of these experiments was run in simulation to provide an independent test of the evolutionary impact of this EO. Our results demonstrate that robot populations with the EO had quantitatively different and potentially less adaptive evolution than populations without it. For example, selection increased the rate at which functional circuitry was lost in the population with the EO, compared to the population without it. In addition, in simulation, EO populations were significantly less fit than populations without it. More generally, results such as these demonstrate the interaction of genetic and EOs during evolution, suggesting the broad importance of including EOs in investigations of evolvability. To our knowledge, our work represents the first physically embodied EO to be used in the evolution of physically embodied robots.

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Section: Discussionmentioning

confidence: 99%

Epigenetic Operators and the Evolution of Physically Embodied Robots

et al. 2017

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“…The system utilises only components within the system. It is a well-researched approach in robotics, electronics and software (Levi, Meister, and Schlachter 2014) but also utilised in many sectors where modules or redundant parts are used.…”

Section: Self-reconfiguringmentioning

confidence: 99%

An overview of self-engineering systems

Brooks

Roy

2021

Journal of Engineering Design

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“…Salah satu konsorsium di bidang swarm robotics mengaplikasikan self-assembly untuk menghindari lubang besar, menyeberangi celah, memanjat bukit, navigasi untuk segala medan, dan operasi penyelamatan (Mondada, 2004;O'Grady, 2012;Trianni, 2014;Bruni, 2015;Matthews, 2015). Sementara konsorsium yang lain mengaplikasikan self-assembly untuk pencarian sumber energi listrik jika swarm robot dilepas di lingkungan tanpa ada ada bantuan manusia (Kornienko, 2007;Meister, 2013;Levi, 2014;Vonásek, 2015).…”

Section: Pendahuluanunclassified

Strategi Self-Assembly Paralel pada Swarm Robot

Syafitri

2019

ELKOMIKA

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ABSTRAKDari banyaknya strategi yang diusulkan untuk proses self-assembly pada swarm robotics, hanya beberapa grup riset berkonsentrasi di bidang ini yang mengusulkan proses paralel pada penggabungan antar robot. Tetapi, strategi ini hanya digunakan ketika sebuah robot memerlukan tumpuan dari dua robot atau lebih pada satu waktu. Berdasar pada kebutuhan untuk menyebarkan ratusan hingga ribuan robot pada satu swarm, strategi penggabungan antar robot satu-demi-satu memerlukan waktu yang sangat lama untuk diselesaikan. Di artikel ini, strategi self-assembly antar robot pada suatu swarm secara paralel diusulkan untuk mengurangi waktu proses self-assembly dengan menempatkan sejumlah robot di posisi tertentu. Saat penggabungan, robot-robot ini akan bergerak menempatkan dirinya sesuai dengan posisi akhir yang ditargetkan. Hasil menunjukkan bahwa strategi ini dapat mereduksi waktu proses self-assembly hingga setengah dari waktu yang diperlukan dengan proses penggabungan satu-demi-satu.Kata kunci: swarm robot, self-assembly, proses paralel ABSTRACTDespite the number of strategies proposed for self-assembly process in swarm robotics, only few research groups working in this area have proposed the parallel process of robots assembled each other. However, this strategy only works when a robot needs to be supported by two or more robots in a time. When deploying hundred to thousand robots in a swarm is required, the strategy of robots connecting to the structure of assembled robots in a one-by-one manner requires an extremely long time to accomplish. In this paper, a strategy of parallel selfassembly for robots in a swarm is proposed for reducing the self-assembly process time by placing a number of robots at particular positions. While connecting, they will move to position themselves appropriately to the targeted final structure. Result shows that this strategy can reduce the process of self-assembly time up to half of the time required for one-by-one process.Keywords: swarm robots, self-assembly, parallel process

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Reconfigurable swarm robots produce self-assembling and self-repairing organisms

Cited by 15 publications

References 9 publications

Epigenetic Operators and the Evolution of Physically Embodied Robots

Epigenetic Operators and the Evolution of Physically Embodied Robots

An overview of self-engineering systems

Strategi Self-Assembly Paralel pada Swarm Robot

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