Behavioral specialization emerges from the embodiment of a robotic swarm
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ORIGINAL ARTICLE
Behavioral specialization emerges from the embodiment of a robotic swarm Motoaki Hiraga1 · Yasumasa Tamura2 · Kazuhiro Ohkura1 Received: 29 January 2020 / Accepted: 14 October 2020 / Published online: 22 October 2020 © International Society of Artificial Life and Robotics (ISAROB) 2020
Abstract This paper focuses on the effect of the embodiment of robots on collective behavior in robotic swarms. The research field of swarm robotics emphasizes the importance of the embodiment of robots; however, only a few studies have discussed how it influences the collective behavior of a robotic swarm. In this paper, a path-formation task is performed by robotic swarms in computer simulations with and without considering collisions among robots to discuss the effect of the robot embodiment. Additionally, the experiments were performed with varying the size of robots. The robot controllers were obtained by an evolutionary robotics approach. The results show that the robot collisions would affect not only the performance of the robotic swarm but also the emergent behavior to accomplish the task. The robot collisions seem to provide feedback on robotic swarms to emerge the division of labor among robots to manage congestion. Keywords Swarm robotics · Evolutionary robotics · Robot collisions · Robot embodiment
1 Introduction Swarm intelligence is a subfield of artificial intelligence, which is inspired by the collective behavior of biological swarms, such as flocks of birds, schools of fish, and colonies of ants [1, 2]. These swarm systems are composed of a large number of individuals and exhibit collective behavior in a distributed approach. In particular, collective behavior emerges from local interactions among individuals and without relying on a centralized controller. Benefitting from the swarm intelligence mechanisms, swarm systems exhibit collective behaviors that are beyond the capability of a single individual. This work was presented in part at the 3rd International Symposium on Swarm Behavior and Bio-Inspired Robotics (Okinawa, Japan, November 20–22, 2019). * Kazuhiro Ohkura kohkura@hiroshima‑u.ac.jp Motoaki Hiraga [email protected]‑u.ac.jp 1
Graduate School of Engineering, Hiroshima University, Hiroshima, Japan
Department of Computer Science, School of Computing, Tokyo Institute of Technology, Tokyo, Japan
2
The field of swarm robotics has emerged as the application of swarm intelligence to robot systems [3, 4]. Swarm robotics focuses on the coordination of a large group of autonomous robots, with emphasis on the physical embodiment of robots. Therefore, swarm robotics could be defined as embodied swarm intelligence. Similar to biological swarms, robotic swarms accomplish a task by a collective behavior that emerges from local interactions and without a centralized controller. The studies on swarm robotics emphasize the importance of the embodiment of robots. However, there have been only a few studies on how the embodiment influences the collective behavior of robotic swarms. For example
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