Supplementary material for the paper:

Modular automatic design of collective behaviors for robots endowed with local communication capabilities

Ken Hasselmann and Mauro Birattari (April 2020)


Table of Contents
  1. Abstract
  2. Study A
    1. Aggregation
    2. Decision
    3. Stop
  3. Study B
    1. Beacon Aggregation
    2. Beacon Decision
    3. Beacon Stop
  4. Further Analysis
    1. Beacon Aggregation
    2. Beacon Stop
    3. Noise models

Beacon Aggregation

Statistical data

The statistical data of all runs is available for download.

Videos

Beacon Aggregation

You can find below the robot behavior of all 8 methods tested in pseudo-reality

AutoMoDe-Gianduja2

AutoMoDe-Gianduja2E

AutoMoDe-Gianduja3

AutoMoDe-Gianduja3E

EvoCom2

EvoCom3

EvoCom2X

EvoCom3X

Example of probabilistic finite-state machine

Example of probabilistic finite-state machine produced by Gianduja2E In all states, \(m\) is the broadcast parameter, other parameters are the same as in Gianduja---see finite-state machine examples of study A. In all conditions, \(\nu\) is the message ID and \(\tau\) is the threshold parameter. Other parameters are the same as in Gianduja---see finite-state machine examples of study A.

Beacon Aggregation

The controllers of all experimental runs are available for download.