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
Received: 1 June 2013; in revised form: 15 July 2013 / Accepted: 16 July 2013 / Published: 24 July 2013
(This article belongs to the Special Issue Intelligent Robots)
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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
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.

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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.

AMA Style

Kuyucu T, Tanev I, Shimohara K. Hormone-Inspired Behaviour Switching for the Control of Collective Robotic Organisms. Robotics. 2013; 2(3):165-184.

Chicago/Turabian Style

Kuyucu, Tüze; Tanev, Ivan; Shimohara, Katsunori. 2013. "Hormone-Inspired Behaviour Switching for the Control of Collective Robotic Organisms." Robotics 2, no. 3: 165-184.

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