Seeking Quality Diversity in Evolutionary Co-design of Morphology and Control of Soft Tensegrity Modular Robots

Designing optimal soft modular robots is difficult, due to non-trivial interactions between morphology and controller. Evolutionary algorithms (EAs), combined with physical simulators, represent a valid tool to overcome this issue. In this work, we investigate algorithmic solutions to improve the Quality Diversity of co-evolved designs of Tensegrity Soft Modular Robots (TSMRs) for two robotic tasks, namely goal-reaching and squeezing through a narrow passage. To this aim, we use three different EAs, i.e., MAP-Elites and two custom algorithms: one based on Viability Evolution (ViE) and NEAT (ViE-NEAT), the other named Double Map MAP-Elites (DM-ME) and devised to seek diversity while co-evolving robot morphologies and neural network (NN)-based controllers. In detail, DM-ME extends MAP-Elites in that it uses two distinct feature maps, referring to morphologies and controllers respectively, and integrates a mechanism to automatically define the NN-related feature descriptor. Considering the fitness, in the goal-reaching task ViE-NEAT outperforms MAP-Elites and results equivalent to DM-ME. Instead, when considering diversity in terms of "illumination" of the feature space, DM-ME outperforms the other two algorithms on both tasks, providing a richer pool of possible robotic designs, whereas ViE-NEAT shows comparable performance to MAP-Elites on goal-reaching, although it does not exploit any map.

Genetic Representation of Adaptive Neural Controllers

Peter Dürr

The manual design of adaptive controllers for robotic systems that face unpredictable environmental changes is often challenging. There is thus a growing interest in the development of automatic design tools to assist control engineers. One of the most common approaches in this domain is the evolutionary synthesis of Artificial Neural Networks (ANNs), which allows the automatic design of control systems with little or no human intervention. The performance of evolved neural controllers, however, critically depends on the choice of a suitable genetic representation, i.e., a description of the ANN on which the evolutionary search can operate effectively. In this thesis, I propose an alternative to existing representations for neural controllers based on an extension of Analog Genetic Encoding (AGE), an abstraction of the regulatory networks that control the expression of genes in biological organisms. The proposed approach unites three characteristics that have separately been considered advantageous, but have so far not been aggregated into a single representation: (1) it can be used to effectively synthesize the topology, weights, and numerical parameters of arbitrary networks; (2) it permits the use of heterogeneous ANN models that feature multiple types of signals; and (3) it facilitates the evolution of modular controllers. The results of a series of experiments demonstrate the advantages of these characteristics: (i) neural architectures synthesized with the proposed method display a performance competitive to the best hand-designed networks and networks synthesized with other representations; (ii) in tasks that feature an unpredictable changing environment, controllers with a heterogeneous ANN model outperform controllers with conventional, homogeneous ANN models; and (iii) in tasks that feature multiple modular sub-problems, the proposed representation allows the automatic decomposition of the problem, leading to a substantial improvement in the performance of the evolved controllers. In summary, the proposed representation in combination with a heterogeneous ANN model and an evolutionary algorithm represents a promising method for the automatic synthesis of adaptive control systems for robots.

EPFL2011

OrthoNet: Multilayer Network Data Clustering

Giovanni Chierchia, Mireille El Gheche, Pascal Frossard

Network data appears in very diverse applications, like biological, social, or sensor networks. Clustering of network nodes into categories or communities has thus become a very common task in machine learning and data mining. Network data comes with some information about the network edges. In some cases, this network information can even be given with multiple views or layers, each one representing a different type of relationship between the network nodes. Increasingly often, network nodes also carry a feature vector. We propose in this paper to extend the node clustering problem, that commonly considers only the network information, to a problem where both the network information and the node features are considered together for learning a clustering-friendly representation of the feature space. Specifically, we design a generic two-step algorithm for multilayer network data clustering. The first step aggregates the different layers of network information into a graph representation given by the geometric mean of the network Laplacian matrices. The second step uses a neural net to learn a feature embedding that is consistent with the structure given by the network layers. We propose a novel algorithm for efficiently training the neural net via gradient descent, which encourages the neural net outputs to span the leading eigenvectors of the aggregated Laplacian matrix, in order to capture the pairwise interactions on the network, and provide a clustering-friendly representation of the feature space. We demonstrate with an extensive set of experiments on synthetic and real datasets that our method leads to a significant improvement w.r.t. state-of-the-art multilayer graph clustering algorithms, as it judiciously combines nodes features and network information in the node embedding algorithms.

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC2020

Synthesis, modeling, and experimental validation of distributed robotic search

James Pugh

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 numerous studies have proposed and analyzed methods to accomplish this, there is currently a lack of a strong foundation of tools and techniques that can be used to facilitate the development and evaluation of different approaches to distributed robotic search. In this work, we aim to provide such a foundation through tools, methods, models, and analysis of experimentation. An often overlooked aspect of the distributed robotic research process is the development and analysis of tools and modules to be used with robotic systems. These may include plug-ins for realistic robotic simulators, software/hardware systems to track multiple mobile robots in real-time, extension boards for robotic platforms, and the robots themselves. Along with other tools developed and used for this work, we focus particularly on the development, characterization, and validation of a fast, accurate on-board system for relative positioning and communication between robots, a capability which is critical for effective distributed robotic search. Designing individual robot controllers to generate a specific group behavior is a difficult and often counter-intuitive process. A possible alternative to hand-crafting distributed search controllers is automatic synthesis using machine-learning techniques. We explore the effectiveness of using a noise-resistant version of the Particle Swarm Optimization algorithm to optimize the weights of an embedded Artificial Neural Network, allowing the robot to learn obstacle avoidance behavior (a common benchmark for robotic learning techniques); we find that this technique appears to offer superior performance as compared to the canonical approach of using Genetic Algorithms for this type of learning. A method for faster learning using distributed evaluation in a robot team is tested and is found to offer comparable performance using only a fraction of the original learning time. This technique can be used for fast, effective learning and adaptation in a distributed robotic system performing search. The process of designing and analyzing algorithms for distributed robotic systems can be greatly facilitated if models are available to describe the dynamics of the algorithm at an abstract level. Inspired by previous examples in the distributed robotic field, we work to design a model of robotic search that captures the system at different levels of abstraction, ranging from accurately recreating the details of individual robots to describing the entire system as an indivisible whole. To capture the entire search process, we model both the exploration phase, where robots cover an environment in an effort to detect traces of targets, and the localization phase, where robots use target emission sensing to navigate towards the target. The utility of our models is demonstrated by using them to develop an effective technique for the declaration phase of search, where robots decide that a target has been accurately localized and announce its position. In distributed robotics research, it is important that techniques developed with abstracted simulations and models are ultimately validated using real robotic platforms in order to verify their correctness. In that spirit, we run systematic sound search experiments using teams of up to ten real robots. These experiments utilize the tools developed throughout the research process, demonstrate the utility of our learning technique for fast search adaptation, and serve to validate our models of distributed robotic localization. In addition, they allow us to analyze and better understand the subtle dynamics of the search process, providing information which should be useful for any future work on distributed robotic search.