Evolution of Direct Communication for a Swarm-bot Performing Hole Avoidance
Evolution of Direct Communication for a Swarm-bot Performing Hole Avoidance
复制标题
群机器人执行漏洞规避的直接通信的演变
DOI：
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发表时间：
2004
期刊：
影响因子：
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通讯作者：
M. Dorigo
中科院分区：
文献类型：
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作者：
V. Trianni;T. H. Labella;M. Dorigo
沟通是协调集体行为的必要条件。蚂蚁、白蚁或蜜蜂等群居昆虫利用不同的交流形式，大致可分为三类：间接（污名化）交流、直接互动和直接交流。在群居昆虫（如蚂蚁的信息素）中，主要使用耻感交流，但也可以观察到直接互动（如蚂蚁的触角）和直接交流（如蜜蜂工蜂的摇摆舞）。当期望迅速作出反应时，例如，当发现危险而必须采取对策时，直接沟通可能是有益的。这就是本文研究的避洞任务：一组自组装的机器人——称为swarm-bot——协调地探索一个包含洞的场地，避免掉入洞中。特别是，我们研究了直接通信的使用，以便比单独使用通过物理链路的直接相互作用更快地实现对空洞检测的反应。我们依靠人工进化来合成神经网络控制器，表明利用直接通信的进化行为比仅利用直接交互更有效。
Communication is often required for coordination of collective behaviours. Social insects like ants, termites or bees make use of different forms of communication, which can be roughly classified in three classes: indirect (stigmergic) communication, direct interaction and direct communication. The use of stigmergic communication is predominant in social insects (e.g., the pheromone trails in ants), but also direct interactions (e.g., antennation in ants) and direct communication can be observed (e.g., the waggle dance of honey bee workers). Direct communication may be beneficial when a fast reaction is expected, as for instance, when a danger is detected and countermeasures must be taken. This is the case of hole avoidance, the task studied in this paper: a group of self-assembled robots – called swarm-bot – coordinately explores an arena containing holes, avoiding to fall into them. In particular, we study the use of direct communication in order to achieve a reaction to the detection of a hole faster than with the sole use of direct interactions through physical links. We rely on artificial evolution for the synthesis of neural network controllers, showing that evolving behaviours that make use of direct communication is more effective than exploiting direct interactions only.