Evolutionary Robotics: Coping with Environmental Change
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The work of this thesis centers around the research subject of distributed robotic search. Within the field of distributed robotic systems, a task of particular interest is attempting to locate one or more targets in a possibly unknown environment. While n ...
This paper addresses the problem of cooperative transport of an object by a group of two simple autonomous mobile robots called s-bots. S-bots are able to establish physical connections between each other and with an object called the prey. The environment ...
This paper studies existing direct transcription methods for trajectory optimization for robot motion planning. These methods have demonstrated to be favorable for planning dynamically feasible motions for high dimensional robots with complex dynamics. How ...
This paper extends hierarchical task network (HTN) planning with lightweight learning, considering that in robotics, actions have a non-zero probability of failing. Our work applies to A*-based HTN planners with lifting. We prove that the planner finds the ...
According to the principles of embodied cognition, intelligent behavior must arise out of the coupled dynamics of an agent's brain, body, and environment. This suggests that the morphological complexity of a robot should scale in relation to the complexity ...
Miniaturisation will be the key challenge for the next decade in numerous industrial fields, such as microelectronics, optics and biomedical engineering. Although most of their products already achieve footprints of some square millimeters, the trend towar ...
This paper extends prior work using Compositional Pattern Producing Networks (CPPNs) as a generative encoding for the purpose of simultaneously evolving robot morphology and control. A method is presented for translating CPPNs into complete robots includin ...
We present a series of experiments concerned with the inspection of regular, engineered structures carried out using swarms of five to twenty autonomous, miniature robots, solely endowed with onboard, local sensors. Individual robot controllers are behavio ...
We describe a new multi-robot system, named SWARM-BOTS, that exploits physical inter-connections to solve tasks that are impossible for a single robot. This is for instance the case of passing large gaps or high steps in all-terrain conditions. In order to ...
This paper explores the capabilities of continuous time recurrent neural networks (CTRNNs) to display reinforcement learning-like abilities on a set of T-Maze and double T-Maze navigation tasks, where the robot has to locate and "remember'' the position of ...