Gianpiero Francesca, Manuele Brambilla, Vito Trianni, Marco Dorigo, and Mauro Birattari
March 2012
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This page contains all supplementary information that was not possible to included in the paper. Table of Contents |
Evolutionary Robotics can be a powerful tool in studies on the evolutionary origins of self-organising behaviours in biological systems. However, these studies are viable only when the behaviour of the evolved artificial system closely corresponds to the one observed in biology, as described by available models. In this paper, we compare the behaviour evolved in a robotic system with the collegial decision making displayed by cockroaches in selecting a resting shelter. We show that artificial evolution can synthesise a simple self-organising behaviour for a swarm of robots, which presents dynamics that are comparable with the cockroaches behaviour.
Keywords: Swarm robotics, Evolutionary Robotics, Aggregation
All the simulated experiments have been performed using the ARGoS simulator. All videos are in real time.
Simulated video with 10 robots, radius 0.35cm, d = 2.90
Simulated video with 10 robots, radius 0.50cm, d = 4.72