Evolutionary Robotics Applied to the Multi-Robot Worst-Case Pursuit-Evasion Problem

被引:0
作者
Gregorin, Livia [1 ]
Freire, Eduardo [1 ]
Carvalho, Elyson [1 ]
Molina, Lucas [1 ]
Givigi, Sidney [2 ]
机构
[1] Univ Fed Sergipe, Dept Elect Engn, Aracaju, Brazil
[2] Royal Mil Coll Canada, Dept Elect & Comp Engn, Kingston, ON, Canada
来源
2016 IEEE 7TH ANNUAL UBIQUITOUS COMPUTING, ELECTRONICS MOBILE COMMUNICATION CONFERENCE (UEMCON) | 2016年
关键词
Evolutionary robotics; finite state machines; pursuit-evasion;
D O I
暂无
中图分类号
TP3 [计算技术、计算机技术];
学科分类号
0812 ;
摘要
This paper proposes the use of an evolutionary robotics approach to solve the worst-case pursuit-evasion problem, in which evaders are considered arbitrarily fast and omniscient, while pursuers have limited sensing and communication capabilities, with no previous knowledge of the environment. Unlike most work in evolutionary robotics, we offer a control system for multiple mobile robots based on finite state machines derived using a genetic algorithm. Results show that, given a sufficient number of robots, the evolved system is capable of clearing a discrete map, including multiply connected maps, of all previous contamination.
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页数:7
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