IRIDIA - Supplementary Information (ISSN: 2684-2041)

Supplementary material for the paper:

AutoMoDe-IcePop: Automatic Modular Design of Control Software for Robot Swarms using Simulated Annealing

Jonas Kuckling1, Keneth Ubeda Arriaza1, and Mauro Birattari1 (March 2020)
1IRIDIA, Université Libre de Bruxelles, Brussels, Belgium


Table of Contents
  1. Abstract
  2. Foraging
  3. AAC
  4. Download

Abstract

Prior research has shown that the optimization algorithm is an integral part of the automatic modular off-line design of control software for robot swarms and can have great influence on the quality of the control software produced. In this paper we investigate, whether a stochastic local search metaheuristic---simulated annealing---can be used as the optimization algorithm in the automatic modular design of robot swarms. The results indicate that simulated annealing is indeed a viable candidate. Additionally, we investigate the influence of some obvious variations of simulated annealing on the performance of the automatic modular design.

Foraging

The arena contains two source areas (black circles) and a nest (white area). A light is placed behind the nest to help the robots to navigate. In this idealized version of foraging, a robot is deemed to retrieve an object when it enters a source and then the nest. The goal of the swarm is to retrieve as many objects as possible.

Videos

AutoMoDe-IcePop

AutoMoDe-Chocolate

AAC

The arena contains two spots (white and black circles). A light is placed behind the black spot to help the robots to navigate. The robots must aggregate as quickly as possible on the black spot.

Videos

AutoMoDe-IcePop

AutoMoDe-Chocolate

Download

The supplementary material is also available for download.