Next Article in Journal / Special Issue
Special Issue on Intelligent Robots
Previous Article in Journal / Special Issue
An Improved Reinforcement Learning System Using Affective Factors
Robotics 2013, 2(3), 165-184; doi:10.3390/robotics2030165
Article

Hormone-Inspired Behaviour Switching for the Control of Collective Robotic Organisms

1,* , 2,*  and 2
1 Engineering Department, Griffith Textile Machines, Washington NE38 8QA, UK 2 Department of Information Systems Design, Doshisha University, Kyotanabe 610-0321, Japan
* Authors to whom correspondence should be addressed.
Received: 1 June 2013 / Revised: 15 July 2013 / Accepted: 16 July 2013 / Published: 24 July 2013
(This article belongs to the Special Issue Intelligent Robots)
Download PDF [4806 KB, 25 July 2013; original version 24 July 2013]

Abstract

Swarming and modular robotic locomotion are two disconnected behaviours that a group of small homogeneous robots can be used to achieve. The use of these two behaviours is a popular subject in robotics research involving search, rescue and exploration. However, they are rarely addressed as two behaviours that can coexist within a single robotic system. Here, we present a bio-inspired decision mechanism, which provides a convenient way for evolution to configure the conditions and timing of behaving as a swarm or a modular robot in an exploration scenario. The decision mechanism switches among two behaviours that are previously developed (a pheromone-based swarm control and a sinusoidal rectilinear modular robot movement). We use Genetic Programming (GP) to evolve the controller for these decisions, which acts without a centralized mechanism and with limited inter-robot communication. The results show that the proposed bio-inspired decision mechanism provides an evolvable medium for the GP to utilize in evolving an effective decision-making mechanism.
Keywords: collective robotics; modular robotics; swarm robotics; hormone-inspired; XGP; Genetic Programming; reconfigurable robotics; pheromone-inspired collective robotics; modular robotics; swarm robotics; hormone-inspired; XGP; Genetic Programming; reconfigurable robotics; pheromone-inspired
This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

Share & Cite This Article

Export to BibTeX |
EndNote


MDPI and ACS Style

Kuyucu, T.; Tanev, I.; Shimohara, K. Hormone-Inspired Behaviour Switching for the Control of Collective Robotic Organisms. Robotics 2013, 2, 165-184.

View more citation formats

Article Metrics

Comments

Citing Articles

[Return to top]
Robotics EISSN 2218-6581 Published by MDPI AG, Basel, Switzerland RSS E-Mail Table of Contents Alert