TY - GEN
T1 - On the evolution of mechanisms for three-option collective decision-making in a swarm of simulated robots
AU - Almansoori, Ahmed
AU - Alkilabi, Muhanad
AU - Tuci, Elio
N1 - Publisher Copyright:
© 2023 ACM.
PY - 2023/7/15
Y1 - 2023/7/15
N2 - To act cohesively as a group, robot swarms must be able to make decisions collectively. Collective decision-making refers to a process in which once a group decision is reached, it cannot be attributed to any single individual. Although extensive research has been conducted in swarm robotics using hand-coded design techniques to develop individual mechanisms for collective decision-making, the proposed mechanisms are generally limited in terms of robustness, scalability, and adaptability. In this paper, we employ evolutionary computation techniques to synthesise neural network-based decision-modules underpinning the individual opinion selection in robots. We describe the group dynamics underlying the decision process that leads to consensus in a three-option perceptual discrimination task. We test the robustness, scalability and adaptability of the decision-module in a variety of conditions. We show that the decision-making mechanisms underpinned by the evolved decision-module are more effective in supporting the collective decision-making process than the hand-coded voter and majority models, both in terms of accuracy and with respect to time to convergence to consensus.
AB - To act cohesively as a group, robot swarms must be able to make decisions collectively. Collective decision-making refers to a process in which once a group decision is reached, it cannot be attributed to any single individual. Although extensive research has been conducted in swarm robotics using hand-coded design techniques to develop individual mechanisms for collective decision-making, the proposed mechanisms are generally limited in terms of robustness, scalability, and adaptability. In this paper, we employ evolutionary computation techniques to synthesise neural network-based decision-modules underpinning the individual opinion selection in robots. We describe the group dynamics underlying the decision process that leads to consensus in a three-option perceptual discrimination task. We test the robustness, scalability and adaptability of the decision-module in a variety of conditions. We show that the decision-making mechanisms underpinned by the evolved decision-module are more effective in supporting the collective decision-making process than the hand-coded voter and majority models, both in terms of accuracy and with respect to time to convergence to consensus.
KW - collective decision-making
KW - collective perception
KW - evolutionary robotics
KW - swarm robotics
UR - http://www.scopus.com/inward/record.url?scp=85167657224&partnerID=8YFLogxK
U2 - 10.1145/3583131.3590385
DO - 10.1145/3583131.3590385
M3 - Conference contribution
AN - SCOPUS:85167657224
T3 - GECCO 2023 - Proceedings of the 2023 Genetic and Evolutionary Computation Conference
SP - 4
EP - 12
BT - GECCO 2023 - Proceedings of the 2023 Genetic and Evolutionary Computation Conference
PB - ACM Press
T2 - 2023 Genetic and Evolutionary Computation Conference, GECCO 2023
Y2 - 15 July 2023 through 19 July 2023
ER -