Abstract
This paper presents a study investigating the generalization characteristics of two neuro-controllers underpinning decision-making mechanisms in a swarm of robots engaged in a collective perception task. The neuro-controllers are both designed—using evolutionary computation—to operate in a randomly distributed cues environment, but under different conditions for what concerns the length of the communication range characterising the robots interactions. For one neuro-controller, the communication range during the design phase is 30 cm, while for the other is 50 cm. The aim of the study is to explore the robustness and the limitations of the two distinct neuro-controllers across a range of different conditions and to establish the optimal bounds on the swarm communication range for this collective perception task. To examine the performance of the two neuro-controllers we conduct a series of post-evaluations in 45 distinct environments, given by nine different distributions of the perceptual cues, and five different communication ranges (i.e., 10, 20, 30, 40, and 50 cm). The results demonstrate that the neuro-controller evolved with a swarm communication range of 30 cm generalizes better and exceeds the performance of the other neuro-controller evolved with 50 cm communication range in a vast majority of the post-evaluation conditions. However, the swarm performance degrades in conditions with patchily distributed perceptual cues and/or very short communication range.
Original language | English |
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Title of host publication | Artificial Life and Evolutionary Computation - 17th Italian Workshop, WIVACE 2023, Revised Selected Papers |
Editors | Marco Villani, Roberto Serra, Stefano Cagnoni |
Publisher | Springer Science and Business Media Deutschland GmbH |
Pages | 190-201 |
Number of pages | 12 |
Volume | 1977 |
ISBN (Electronic) | 978-3-031-57430-6 |
ISBN (Print) | 9783031574290 |
DOIs | |
Publication status | Published - 30 Mar 2024 |
Event | 17th Italian Workshop on Artificial Life and Evolutionary Computation, WIVACE 2023 - Venice, Italy Duration: 6 Sept 2023 → 8 Sept 2023 |
Publication series
Name | Communications in Computer and Information Science |
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Volume | 1977 CCIS |
ISSN (Print) | 1865-0929 |
ISSN (Electronic) | 1865-0937 |
Conference
Conference | 17th Italian Workshop on Artificial Life and Evolutionary Computation, WIVACE 2023 |
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Country/Territory | Italy |
City | Venice |
Period | 6/09/23 → 8/09/23 |
Keywords
- Collective perception
- Evolutionary robotics
- Swarm robotics
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