Evolving Behaviour Trees for Swarm Robotics

Simon Jones; Matthew  Studley; Sabine Hauert; Alan F T Winfield

doi:10.1007/978-3-319-73008-0_34

Evolving Behaviour Trees for Swarm Robotics

Simon Jones, Matthew Studley, Sabine Hauert, Alan F T Winfield

Research output: Chapter in Book/Report/Conference proceeding › Conference Contribution (Conference Proceeding)

39 Citations (Scopus)

654 Downloads (Pure)

Abstract

Controllers for swarms of robots are hard to design as swarm behaviour emerges from their interaction, and so controllers are often evolved. However, these evolved controllers are often difficult to understand, limiting our ability to predict swarm behaviour. We suggest behaviour trees are a good control architecture for swarm robotics, as they are comprehensible and promote modular reuse. We design a foraging task for kilobots and evolve a behaviour tree capable of performing that task, both in simulation and reality, and show the controller is compact and under- standable.

Original language	English
Title of host publication	Distributed Autonomous Robotic Systems
Subtitle of host publication	13th International Symposium on Distributed Autonomous Robotic Systems (DARS 2016)
Publisher	Springer
Pages	487-501
Number of pages	15
ISBN (Electronic)	9783319730080
ISBN (Print)	9783319730066
DOIs	https://doi.org/10.1007/978-3-319-73008-0_34
Publication status	Published - 14 Mar 2018
Event	13th International Symposium on Distributed Autonomous Robotic Systems - Natural History Museum, London, United Kingdom Duration: 6 Nov 2016 → 9 Nov 2016 http://dars2016.org

Publication series

Name	Springer Tracts in Advanced Robotics
Publisher	Springer
ISSN (Print)	1610-7438

Conference

Conference	13th International Symposium on Distributed Autonomous Robotic Systems
Abbreviated title	DARS 2016
Country/Territory	United Kingdom
City	London
Period	6/11/16 → 9/11/16
Internet address	http://dars2016.org

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10.1007/978-3-319-73008-0_34

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@inproceedings{4a4cbff77446451abeb4e282131167d6,

title = "Evolving Behaviour Trees for Swarm Robotics",

abstract = "Controllers for swarms of robots are hard to design as swarm behaviour emerges from their interaction, and so controllers are often evolved. However, these evolved controllers are often difficult to understand, limiting our ability to predict swarm behaviour. We suggest behaviour trees are a good control architecture for swarm robotics, as they are comprehensible and promote modular reuse. We design a foraging task for kilobots and evolve a behaviour tree capable of performing that task, both in simulation and reality, and show the controller is compact and under- standable.",

author = "Simon Jones and Matthew Studley and Sabine Hauert and Winfield, {Alan F T}",

year = "2018",

month = mar,

day = "14",

doi = "10.1007/978-3-319-73008-0_34",

language = "English",

isbn = "9783319730066",

series = "Springer Tracts in Advanced Robotics",

publisher = "Springer",

pages = "487--501",

booktitle = "Distributed Autonomous Robotic Systems",

note = "13th International Symposium on Distributed Autonomous Robotic Systems, DARS 2016 ; Conference date: 06-11-2016 Through 09-11-2016",

url = "http://dars2016.org",

}

Jones, S, Studley, M, Hauert, S & Winfield, AFT 2018, Evolving Behaviour Trees for Swarm Robotics. in Distributed Autonomous Robotic Systems: 13th International Symposium on Distributed Autonomous Robotic Systems (DARS 2016). Springer Tracts in Advanced Robotics, Springer, pp. 487-501, 13th International Symposium on Distributed Autonomous Robotic Systems, London, United Kingdom, 6/11/16. https://doi.org/10.1007/978-3-319-73008-0_34

Evolving Behaviour Trees for Swarm Robotics. / Jones, Simon; Studley, Matthew ; Hauert, Sabine et al.
Distributed Autonomous Robotic Systems: 13th International Symposium on Distributed Autonomous Robotic Systems (DARS 2016). Springer, 2018. p. 487-501 (Springer Tracts in Advanced Robotics).

Research output: Chapter in Book/Report/Conference proceeding › Conference Contribution (Conference Proceeding)

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T1 - Evolving Behaviour Trees for Swarm Robotics

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AU - Hauert, Sabine

AU - Winfield, Alan F T

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AB - Controllers for swarms of robots are hard to design as swarm behaviour emerges from their interaction, and so controllers are often evolved. However, these evolved controllers are often difficult to understand, limiting our ability to predict swarm behaviour. We suggest behaviour trees are a good control architecture for swarm robotics, as they are comprehensible and promote modular reuse. We design a foraging task for kilobots and evolve a behaviour tree capable of performing that task, both in simulation and reality, and show the controller is compact and under- standable.

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T2 - 13th International Symposium on Distributed Autonomous Robotic Systems

Y2 - 6 November 2016 through 9 November 2016

ER -

Evolving Behaviour Trees for Swarm Robotics

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