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Cognitive Systems Monographs

Reliability, Adaptability, Evolution

By: Paul Levi (Editor), Serge Kernbach (Editor)

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Hardcover | 4 June 2010

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496 Pages

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23.5 x 15.88 x 3.18

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It is our pleasure to contribute the forewordto this book on symbiotic mul- robot organisms, which is largely based on the scienti?c ?ndings and exp- rations of two major EU research projects, Symbrion and Replicator, funded under the Seventh Framework Programme for Research and Technological 1 development (FP7) . FP7 emphasises consortia of European partners, tra- national collaboration, open coordination, ?exibility and excellence of - search and plays a leading role in multidisciplinary research and cooperative activities in Europe and beyond. Its impact is major in terms of integrating and structuring research communities across national borders to achieve a critical mass, providing the leverage for high-potential ?elds to take o?, and encouraging healthy competition at European level while avoiding unn- essary duplication of research capacities. Research proposals are evaluated through a demanding peer-review process and only the best are selected to be funded bythe EuropeanCommission(EC). The InformationandCom- nication Technologies(ICT) theme has set out a number of challengeswithin this context, which cover topics such as cognitive systems, modular robotics, adaptive systems and societies of artefacts. â¢ Symbrion was selected following the Call "Pervasive Adaptation" of the 2 "Future and Emerging Technologies (FET)" programme area. Itstarted on 1 February 2008 and will run for 5 years. FET Proactive addresses evolutionary and revolutionary approaches through multidisciplinary - operation and investigates new future technology options in response to emerging societal and industrial needs and identi?es new drivers for - search.

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Introduction	p. 1
Concepts of Symbiotic Robot Organisms	p. 5
From Robot Swarm to Artificial Organisms: Self-organization of Structures, Adaptivity and Self-development	p. 5
Mono- and Multi- functional Artificial Self-organization	p. 7
Collective Robotics: Problem of Structures	p. 11
Adaptability and Self-development	p. 14
Artificial Symbiotic Systems: Perspectives and Challenges	p. 21
Towards a Synergetic Quantum Field Theory for Evolutionary, Symbiotic Multi-Robotics	p. 25
Cooperative (Coherent) Operations between Fermionic Units	p. 28
Individual Contributions of the Eigenanteile	p. 36
Separate Perturbations of the Eigenanteile	p. 40
Coupling of the Disturbed Eigenanteil Equations	p. 42
Information Model and Interactions of Structured Components	p. 45
Functional and Reliability Modelling of Swarm Robotic Systems	p. 54
Macroscopic Probabilistic Modelling in Swarm Robotics	p. 54
Reliability Modelling of Swarm Robotic Systems	p. 65
Concluding Discussion	p. 76
Heterogeneous Multi-Robot Systems	p. 79
Reconfigurable Heterogeneous Mechanical Modules	p. 79
A Heterogeneous Approach in Modular Robotics	p. 80
Integration and Miniaturization	p. 82
Locomotion Mechanisms	p. 84
Docking Mechanisms and Strategies	p. 86
Mechanical Degrees of Freedoms: Actuation for the Individual Robot and for the Organism	p. 88
Tool Module: Active Wheel	p. 88
Summary of the Three Robotic Platforms	p. 91
Computation, Distributed Sensing and Communication	p. 92
Electronic Architectures in Related Works	p. 93
General Hardware Architecture in Symbrion/Replicator	p. 94
General Sensor Capabilities	p. 97
Vision and IR-Based Perception	p. 100
Triangulation Laser Range Sensor for Obstacle Detection and Interpretation of Basic Geometric Features	p. 105
Powerful Wireless Communication and 3D Real Time Localisation Systems	p. 107
Integration Issues	p. 113
Energy Autonomy and Energy Harvesting in Reconfigurable Swarm Robotics	p. 114
Energy Autonomy	p. 115
Energy Harvesting	p. 116
Energy Trophallaxis	p. 119
Energy Sharing within a Robot Organism	p. 121
Energy Management	p. 122
Modular Robot Simulation	p. 133
Simulation Environments	p. 134
The Symbricator3D Simulation Environment	p. 137
Showcase: The Dynamics Predictor	p. 149
Conclusion and Future Work	p. 162
Cognitive Approach in Artificial Organisms	p. 165
Cognitive World Modeling	p. 165
Methodology	p. 166
Spatial World Modeling	p. 166
Evolution Map	p. 167
Map	p. 169
Jockeys	p. 170
Reasoning	p. 172
Executor	p. 173
Porting the EMa onto a Robot	p. 174
EMa Care-Taking Procedures	p. 175
Physical Layout	p. 176
Logical Layout and Communication	p. 177
Experiments	p. 179
Functional World Modelling	p. 180
Emergent Cognitive Sensor Fusion	p. 183
Scenarios	p. 185
Towards Embodied and Emergent Cognition	p. 188
Sensor Fusion Model	p. 192
Application of Embodied Cognition to the Development of Artificial Organisms	p. 202
Natural vs. Artificial Systems: Collectivity and Adaptability in Inanimated Nature	p. 203
Definition of Information and Knowledge Related to Restrictions	p. 211
Collectivity and Adaptability in Animated Nature	p. 219
Information Based Learning to Develop and Maintain Artificial Organisms	p. 221
Adaptive Control Mechanisms	p. 229
General Controller Framework	p. 229
Controller Framework in Symbrion/Replicator	p. 229
Bio-inspiration for the Structure of Artificial Genome	p. 232
Action Selection Mechanism	p. 234
Overview of Different Control Mechanisms	p. 235
Hormone-Based Control for Multi-modular Robotics	p. 240
Micro-organisms' Cell Signals and Hormones as Source of Inspiration	p. 241
Related Work	p. 246
Artificial Homeostatic Hormone System (AHHS)	p. 247
Encoding an AHHS into a Genome	p. 249
Self-organised Compartmentalisation	p. 250
Evolutionary Adaptation	p. 255
Single Robots	p. 256
Forming Robot Organisms	p. 257
Locomotion of Robot Organisms	p. 259
Feedbacks	p. 261
Conclusion	p. 262
Evolving Artificial Neural Networks and Artificial Embryology	p. 263
Shaping of ANN in Literature	p. 264
Overview over Section	p. 266
Concept of Adapting Virtual Embryogenesis for Controller Development	p. 266
Diffusion Processes	p. 267
Genetics and Cellular Behaviour	p. 268
Simulated Physics	p. 269
Cell Specialisation	p. 270
Linkage	p. 270
Depicting Genetic Structures and Feedbacks	p. 272
Stable Growth due to Feedbacks in Genetic Structure	p. 275
Developing Complex Shapes	p. 276
The Growth of Neurons	p. 277
Translation	p. 278
Usability of Virtual Embryogenesis in the Context of Artificial Evolution for Shaping Artificial Neural Networks and Robot Controllers	p. 279
Subsumption of Section	p. 281
An Artificial Immune System for Robot Organisms	p. 282
A Biological and Engineering Perspective	p. 283
An Immune-inspired Architecture for Fault Tolerance in Swarm and Collective Robotic Systems	p. 290
Innate Layer	p. 293
Adaptive Layer	p. 294
Summary	p. 305
Structural Self-organized Control	p. 306
Representation of Structures	p. 308
Compact Representation: The Topology Generator	p. 313
Scalability of Structures and Appearing Constraints	p. 314
Morphogenesis as an Optimal Decision Problem	p. 317
Self-organized Morphogenesis	p. 322
Collective Memory and Further Points	p. 325
Kinematics and Dynamics for Robot Organisms	p. 326
Modeling of Multi-robot Organisms	p. 328
Inverse Kinematics	p. 332
Dynamics	p. 333
Computational Analysis	p. 335
Conclusion	p. 336
Learning, Artificial Evolution and Cultural Aspects of Symbiotic Robotics	p. 337
Machine Learning for Autonomous Robotics	p. 337
Related Work	p. 338
Challenges for ML-Based Robotics	p. 347
The WOALA Scheme	p. 349
First Experiments with WOALA	p. 353
Discussion and Perspectives	p. 361
Embodied, On-Line, On-Board Evolution for Autonomous Robotics	p. 362
Controllers, Genomes, Learning, and Evolution	p. 363
Classification of Approaches to Evolving Robot Controllers	p. 364
The Classical Off-Line Approach Based on a Master EA	p. 368
On-Line Approaches	p. 369
Testing Encapsulated Evolutionary Approaches	p. 372
Conclusions and Future Work	p. 382
Artificial Sexuality and Reproduction of Robots Organisms	p. 384
The Role of Sexuality for Robots	p. 385
Artificial Reproduction	p. 388
Implementation of Artificial Sexuality on Real Robots	p. 390
Evolutionary Engineering	p. 392
Evolution of Multicellular Organisms	p. 397
Sex and Reproduction of Symbiotic Robots	p. 399
Conclusion	p. 403
Self-learning Behavior of Virus-Like Artificial Organisms	p. 403
Effectiveness of Evolutionary Optimization for Genetic Cloud	p. 405
Interaction between Evolution and Learning in an Evolutionary Process	p. 412
Evolutionary Emergence of a Cooperation between Agents	p. 418
Discovering of Chains of Actions by Self-learning Agents	p. 421
Virus-Like Organisms: New Adaptive Paradigm?	p. 424
Towards the Emergence of Artificial Culture in Collective Robotic Systems	p. 425
Project Aims	p. 425
The Artificial Culture Laboratory	p. 426
The Challenges and the Case for an Emerging Robot Culture	p. 428
Robot Memes and Meme Tracking	p. 430
Concluding Remarks	p. 433
Final Conclusions	p. 435
References	p. 437
Index	p. 467
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Cognitive Systems Monographs

Reliability, Adaptability, Evolution

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