Decentralized Approach to Evolve the Structure of Metamorphic Robots

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

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Abstract

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)
Language: English
Date: 2013
Uncontrolled Keywords: Metamorphic Robots - Multi-Cellular Structures - Self-Configuration - Genetic Algorithm - PacMan Algorithm
Subjects: H- INFORMATIQUE
Divisions: Institut de Recherche en Informatique de Toulouse
Site: UT1
Date Deposited: 24 Jan 2019 14:33
Last Modified: 24 Jan 2019 14:33
URI: http://publications.ut-capitole.fr/id/eprint/30212

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