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Symbiotic Multi-Robot Organisms : Reliability, Adaptability, Evolution - Paul Levi

Symbiotic Multi-Robot Organisms

Reliability, Adaptability, Evolution

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

Hardcover Published: 20th June 2010
ISBN: 9783642116919
Number Of Pages: 466

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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. * 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.

Introductionp. 1
Concepts of Symbiotic Robot Organismsp. 5
From Robot Swarm to Artificial Organisms: Self-organization of Structures, Adaptivity and Self-developmentp. 5
Mono- and Multi- functional Artificial Self-organizationp. 7
Collective Robotics: Problem of Structuresp. 11
Adaptability and Self-developmentp. 14
Artificial Symbiotic Systems: Perspectives and Challengesp. 21
Towards a Synergetic Quantum Field Theory for Evolutionary, Symbiotic Multi-Roboticsp. 25
Cooperative (Coherent) Operations between Fermionic Unitsp. 28
Individual Contributions of the Eigenanteilep. 36
Separate Perturbations of the Eigenanteilep. 40
Coupling of the Disturbed Eigenanteil Equationsp. 42
Information Model and Interactions of Structured Componentsp. 45
Functional and Reliability Modelling of Swarm Robotic Systemsp. 54
Macroscopic Probabilistic Modelling in Swarm Roboticsp. 54
Reliability Modelling of Swarm Robotic Systemsp. 65
Concluding Discussionp. 76
Heterogeneous Multi-Robot Systemsp. 79
Reconfigurable Heterogeneous Mechanical Modulesp. 79
A Heterogeneous Approach in Modular Roboticsp. 80
Integration and Miniaturizationp. 82
Locomotion Mechanismsp. 84
Docking Mechanisms and Strategiesp. 86
Mechanical Degrees of Freedoms: Actuation for the Individual Robot and for the Organismp. 88
Tool Module: Active Wheelp. 88
Summary of the Three Robotic Platformsp. 91
Computation, Distributed Sensing and Communicationp. 92
Electronic Architectures in Related Worksp. 93
General Hardware Architecture in Symbrion/Replicatorp. 94
General Sensor Capabilitiesp. 97
Vision and IR-Based Perceptionp. 100
Triangulation Laser Range Sensor for Obstacle Detection and Interpretation of Basic Geometric Featuresp. 105
Powerful Wireless Communication and 3D Real Time Localisation Systemsp. 107
Integration Issuesp. 113
Energy Autonomy and Energy Harvesting in Reconfigurable Swarm Roboticsp. 114
Energy Autonomyp. 115
Energy Harvestingp. 116
Energy Trophallaxisp. 119
Energy Sharing within a Robot Organismp. 121
Energy Managementp. 122
Modular Robot Simulationp. 133
Simulation Environmentsp. 134
The Symbricator3D Simulation Environmentp. 137
Showcase: The Dynamics Predictorp. 149
Conclusion and Future Workp. 162
Cognitive Approach in Artificial Organismsp. 165
Cognitive World Modelingp. 165
Methodologyp. 166
Spatial World Modelingp. 166
Evolution Mapp. 167
Mapp. 169
Jockeysp. 170
Reasoningp. 172
Executorp. 173
Porting the EMa onto a Robotp. 174
EMa Care-Taking Proceduresp. 175
Physical Layoutp. 176
Logical Layout and Communicationp. 177
Experimentsp. 179
Functional World Modellingp. 180
Emergent Cognitive Sensor Fusionp. 183
Scenariosp. 185
Towards Embodied and Emergent Cognitionp. 188
Sensor Fusion Modelp. 192
Application of Embodied Cognition to the Development of Artificial Organismsp. 202
Natural vs. Artificial Systems: Collectivity and Adaptability in Inanimated Naturep. 203
Definition of Information and Knowledge Related to Restrictionsp. 211
Collectivity and Adaptability in Animated Naturep. 219
Information Based Learning to Develop and Maintain Artificial Organismsp. 221
Adaptive Control Mechanismsp. 229
General Controller Frameworkp. 229
Controller Framework in Symbrion/Replicatorp. 229
Bio-inspiration for the Structure of Artificial Genomep. 232
Action Selection Mechanismp. 234
Overview of Different Control Mechanismsp. 235
Hormone-Based Control for Multi-modular Roboticsp. 240
Micro-organisms' Cell Signals and Hormones as Source of Inspirationp. 241
Related Workp. 246
Artificial Homeostatic Hormone System (AHHS)p. 247
Encoding an AHHS into a Genomep. 249
Self-organised Compartmentalisationp. 250
Evolutionary Adaptationp. 255
Single Robotsp. 256
Forming Robot Organismsp. 257
Locomotion of Robot Organismsp. 259
Feedbacksp. 261
Conclusionp. 262
Evolving Artificial Neural Networks and Artificial Embryologyp. 263
Shaping of ANN in Literaturep. 264
Overview over Sectionp. 266
Concept of Adapting Virtual Embryogenesis for Controller Developmentp. 266
Diffusion Processesp. 267
Genetics and Cellular Behaviourp. 268
Simulated Physicsp. 269
Cell Specialisationp. 270
Linkagep. 270
Depicting Genetic Structures and Feedbacksp. 272
Stable Growth due to Feedbacks in Genetic Structurep. 275
Developing Complex Shapesp. 276
The Growth of Neuronsp. 277
Translationp. 278
Usability of Virtual Embryogenesis in the Context of Artificial Evolution for Shaping Artificial Neural Networks and Robot Controllersp. 279
Subsumption of Sectionp. 281
An Artificial Immune System for Robot Organismsp. 282
A Biological and Engineering Perspectivep. 283
An Immune-inspired Architecture for Fault Tolerance in Swarm and Collective Robotic Systemsp. 290
Innate Layerp. 293
Adaptive Layerp. 294
Summaryp. 305
Structural Self-organized Controlp. 306
Representation of Structuresp. 308
Compact Representation: The Topology Generatorp. 313
Scalability of Structures and Appearing Constraintsp. 314
Morphogenesis as an Optimal Decision Problemp. 317
Self-organized Morphogenesisp. 322
Collective Memory and Further Pointsp. 325
Kinematics and Dynamics for Robot Organismsp. 326
Modeling of Multi-robot Organismsp. 328
Inverse Kinematicsp. 332
Dynamicsp. 333
Computational Analysisp. 335
Conclusionp. 336
Learning, Artificial Evolution and Cultural Aspects of Symbiotic Roboticsp. 337
Machine Learning for Autonomous Roboticsp. 337
Related Workp. 338
Challenges for ML-Based Roboticsp. 347
The WOALA Schemep. 349
First Experiments with WOALAp. 353
Discussion and Perspectivesp. 361
Embodied, On-Line, On-Board Evolution for Autonomous Roboticsp. 362
Controllers, Genomes, Learning, and Evolutionp. 363
Classification of Approaches to Evolving Robot Controllersp. 364
The Classical Off-Line Approach Based on a Master EAp. 368
On-Line Approachesp. 369
Testing Encapsulated Evolutionary Approachesp. 372
Conclusions and Future Workp. 382
Artificial Sexuality and Reproduction of Robots Organismsp. 384
The Role of Sexuality for Robotsp. 385
Artificial Reproductionp. 388
Implementation of Artificial Sexuality on Real Robotsp. 390
Evolutionary Engineeringp. 392
Evolution of Multicellular Organismsp. 397
Sex and Reproduction of Symbiotic Robotsp. 399
Conclusionp. 403
Self-learning Behavior of Virus-Like Artificial Organismsp. 403
Effectiveness of Evolutionary Optimization for Genetic Cloudp. 405
Interaction between Evolution and Learning in an Evolutionary Processp. 412
Evolutionary Emergence of a Cooperation between Agentsp. 418
Discovering of Chains of Actions by Self-learning Agentsp. 421
Virus-Like Organisms: New Adaptive Paradigm?p. 424
Towards the Emergence of Artificial Culture in Collective Robotic Systemsp. 425
Project Aimsp. 425
The Artificial Culture Laboratoryp. 426
The Challenges and the Case for an Emerging Robot Culturep. 428
Robot Memes and Meme Trackingp. 430
Concluding Remarksp. 433
Final Conclusionsp. 435
Referencesp. 437
Indexp. 467
Table of Contents provided by Ingram. All Rights Reserved.

ISBN: 9783642116919
ISBN-10: 3642116914
Series: Cognitive Systems Monographs
Audience: General
Format: Hardcover
Language: English
Number Of Pages: 466
Published: 20th June 2010
Publisher: Springer-Verlag Berlin and Heidelberg Gmbh & Co. Kg
Country of Publication: DE
Dimensions (cm): 23.37 x 15.75  x 3.05
Weight (kg): 0.82