Presentation information

Organized Session

Organized Session » OS-3

[2M5-OS-3b] OS-3 (2)

Wed. Jun 10, 2020 3:50 PM - 5:30 PM Room M (jsai2020online-13)

栗原 聡(慶應義塾大学)、川村 秀憲(北海道大学)、津田 一郎(中部大学)、大倉 和博(広島大学)

4:10 PM - 4:30 PM

[2M5-OS-3b-02] Generating Collective Behavior of Multi-legged Robotic Swarm with Deep Neuroevolution

〇Daichi Morimoto1, Motoaki Hiraga1, Kazuhiro Ohkura1, Yoshiyuki Matsumura2, Masaharu Munetomo3 (1. Hiroshima University, 2. Shinshu University, 3. Hokkaido University)

Keywords:Swarm Robotics, Deep Neuroevolution, Multi-legged mobile robot

In this paper, the controller of the multi-legged robotic swarm is designed by deep neuroevolution, which is a technique to train a deep neural network by using artificial evolution.
The computer simulations are conducted with a 3D physics engine called Bullet.
An aggregation task is examined with varying the sensor range to discuss the behavior.
The results show that deep neuroevolution was able to generate collective behavior of the multi-legged robotic swarm.
Moreover, the robotic swarm showed a potential behavior that might be useful to achieve more complex tasks.

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