Decentralized Approach to Evolve the Structure of Metamorphic Robots

Abstract : Metamorphic robots are robots that can change their shape by reorganizing the connectivity of their modules to adapt to new environments, perform new tasks, or recover from damages. In this paper we present a decentralized method for structural evolving of a class of lattice-based simulated metamorphic robots in a static environment. These robots are considered as a set of crystalline (compressible) modules that are able to connect or disconnect one from each another or even exchange information and energy with the neighbor modules in order to form various structures/patterns dynamically. Our approach is splitted in two layers: in the first layer a genetic algorithm is used to generate a number of well suited target configurations based on current information perceived from environment, while in the second layer a PacMan-like algorithm is used to make a plan for modules movement to transform the robot from its current pattern to the target pattern emerged in first layer.
Complete list of metadatas

Cited literature [15 references]  Display  Hide  Download

https://hal.archives-ouvertes.fr/hal-01150342
Contributor : Open Archive Toulouse Archive Ouverte (oatao) <>
Submitted on : Monday, May 11, 2015 - 9:15:27 AM
Last modification on : Thursday, October 24, 2019 - 2:44:10 PM
Long-term archiving on : Monday, September 14, 2015 - 9:47:45 PM

File

Ababsa_12449.pdf
Files produced by the author(s)

Identifiers

  • HAL Id : hal-01150342, version 1
  • OATAO : 12449

Collections

Citation

Tarek Ababsa, Noureddine Djedi, Yves Duthen, Sylvain Cussat-Blanc. Decentralized Approach to Evolve the Structure of Metamorphic Robots. IEEE Symposium on Artificial Life - ALIFE 2013, Apr 2013, Singapore, Singapore. pp. 74-81. ⟨hal-01150342⟩

Share

Metrics

Record views

256

Files downloads

316