Generalizations of Evolved Decision-Making Mechanisms in Swarm Collective Perception

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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 languageEnglish
Title of host publicationArtificial Life and Evolutionary Computation - 17th Italian Workshop, WIVACE 2023, Revised Selected Papers
EditorsMarco Villani, Roberto Serra, Stefano Cagnoni
PublisherSpringer Science and Business Media Deutschland GmbH
Pages190-201
Number of pages12
Volume1977
ISBN (Electronic)978-3-031-57430-6
ISBN (Print)9783031574290
DOIs
Publication statusPublished - 30 Mar 2024
Event17th Italian Workshop on Artificial Life and Evolutionary Computation, WIVACE 2023 - Venice, Italy
Duration: 6 Sept 20238 Sept 2023

Publication series

NameCommunications in Computer and Information Science
Volume1977 CCIS
ISSN (Print)1865-0929
ISSN (Electronic)1865-0937

Conference

Conference17th Italian Workshop on Artificial Life and Evolutionary Computation, WIVACE 2023
Country/TerritoryItaly
CityVenice
Period6/09/238/09/23

Keywords

  • Collective perception
  • Evolutionary robotics
  • Swarm robotics

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