Small robots with limited computational and sensory capabilities are becoming more commonplace. Designing effective behaviour for small robotic platforms to complete complex tasks is a major challenge. A promising methodology to address this problem is found in Evolutionary Robotics (ER), in which a robot’s controller, and possibly its body, is optimised using Evolutionary Learning (EL) techniques. This approach satisfies given computational constraints, while often resulting in unexpected solutions which exploit sensory-motor coordination to achieve complex tasks.

After more than 20 years of research on ER there are still many open questions. Most issues surround the question of how ER is implemented on a real robotic platform resulting in effective robust behaviour. Additionally, most implementation of ER to date have been to robots completing relatively simple tasks in constrained environment.

Can Evolutionary Robotics be used to enable small, computationally limited flying robotic platforms to complete goal driven tasks in complex environments?

  • [DOI] B. J. Pijnacker Hordijk, K. Y. W. Scheper, and G. C. H. E. de Croon, “Vertical landing for micro air vehicles using event-based optical flow,” Journal of field robotics, pp. 1-22.
    [Bibtex]
    @article {Hordijk2017,
    author = {Pijnacker Hordijk, Bas J. and Scheper, Kirk Y. W. and de Croon, Guido C. H. E.},
    title = {Vertical landing for micro air vehicles using event-based optical flow},
    journal = {Journal of Field Robotics},
    issn = {1556-4967},
    url = {http://dx.doi.org/10.1002/rob.21764},
    doi = {10.1002/rob.21764},
    pages = {1-22},
    keywords = {aerial robotics, bio-inspired methods, optical flow, perception, sensors}
    }

2014

  • K. Y. W. Scheper, “Behaviour Trees for Evolutionary Robotics: Reducing the Reality Gap,” Master Thesis, Delft, NL, 2014.
    [Bibtex]
    @mastersthesis{Scheper2014,
    address = {Delft, NL},
    author = {Scheper, Kirk Y W},
    keywords = {Behaviour Tree, Evolutionary Robotics, Reality Gap, Micro Aerial Vehicle},
    school = {Delft University of Technology},
    title = {{Behaviour Trees for Evolutionary Robotics: Reducing the Reality Gap}},
    url = {http://resolver.tudelft.nl/uuid:dde8d42e-590a-465d-abaf-760ec304760f},
    year = {2014}
    }

2016

  • [DOI] K. Y. W. Scheper and G. C. H. E. de Croon, “Abstraction as a Mechanism to Cross the Reality Gap in Evolutionary Robotics,” in From Animals to Animats 14: 14th International Conference on Simulation of Adaptive Behavior, SAB 2016, E. Tuci, A. Giagkos, M. Wilson, and J. Hallam, Eds., Aberystwyth University, Wales, UK: Springer International Publishing, 2016, pp. 280-292.
    [Bibtex]
    @incollection{Scheper2016b,
    address = {Aberystwyth University, Wales, UK},
    author = {Scheper, Kirk Y W and de Croon, Guido C. H. E.},
    booktitle = {{From Animals to Animats 14: 14th International Conference on Simulation of Adaptive Behavior, SAB 2016}},
    doi = {10.1007/978-3-319-43488-9_25},
    editor = {Tuci, Elio and Giagkos, Alexandros and Wilson, Myra and Hallam, John},
    isbn = {978-3-319-43488-9},
    issn = {00237205},
    keywords = {Evolutionary Robotics,abstraction,homogeneous swarm control,reality gap},
    pages = {280--292},
    pmid = {22352717},
    publisher = {Springer International Publishing},
    title = {{Abstraction as a Mechanism to Cross the Reality Gap in Evolutionary Robotics}},
    url = {http://link.springer.com/10.1007/978-3-319-43488-9},
    year = {2016}
    }
  • [DOI] K. Y. W. Scheper, S. Tijmons, C. C. de Visser, and G. C. H. E. de Croon, “Behaviour Trees for Evolutionary Robotics,” Artificial life, vol. 22, iss. 1, pp. 23-48, 2016.
    [Bibtex]
    @article{Scheper2016a,
    author = {Scheper, Kirk Y W and Tijmons, Sjoerd and de Visser, Cornelius C and de Croon, Guido C H E},
    doi = {10.1162/ARTL_a_00192},
    eprint = {arXiv:1411.7267v1},
    isbn = {1064-5462$\backslash$n1530-9185},
    issn = {10645462},
    journal = {Artificial life},
    keywords = {Behaviour Tree,Evolutionary Robotics,Reality Gap},
    number = {1},
    pages = {23--48},
    pmid = {23373976},
    title = {{Behaviour Trees for Evolutionary Robotics}},
    volume = {22},
    url = {http://www.mitpressjournals.org/doi/10.1162/ARTL_a_00192},
    year = {2016}
    }

2017

  • K. Y. Scheper and G. C. de Croon, “Abstraction, sensory-motor coordination, and the reality gap in evolutionary robotics,” Artificial life, 2017.
    [Bibtex]
    @article{scheper2017abstraction,
    title={Abstraction, Sensory-Motor Coordination, and the Reality Gap in Evolutionary Robotics},
    author={Scheper, Kirk YW and de Croon, Guido CHE},
    journal={Artificial Life},
    year={2017},
    publisher={MIT Press}
    }

 

 

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