![]() The novelty of this work is its experimental aspect involving long range network communication across a large distance via the internet. We ran several experiments, with intentional packet loss, that illustrate the degradation of the results in the case of modest and severe packet loss. The communication protocol was designed to minimize loss of packets, and average transfer delays are within tolerance limits for practical applications. Extensive experimental results were obtained with real internet communication and virtual testbeds running in each lab. A dual-testbed design is developed involving real robots and remote network communication, performing a cooperative swarming algorithm based on a modified Morse Potential. The goal is to have all robots properly follow a leader defined on one of the testbeds, while maintaining non-overlapping positions within each swarm and between swarms, assuming they are superimposed in the same virtual space. The results showed the effectiveness of the proposed technique.read more read lessĪbstract: We consider cooperative control of robots involving two different testbed systems in remote locations in different time zones, with communication on the internet. The new technique is intensively tested with different environments. More importantly, the proposed technique obviates the need for environment segmentation complex procedures which is adopted in some previous important research works. And secondly, it aims at reducing computations complexity required by target selection and path planning tasks. To achieve this, a new procedure to assign the next target location for each individual robot is proposed. In particular, the new technique has two main objectives: firstly, it aims at reducing the exploration time and the traveled distance by reducing the overlap which takes place when a certain area in the environment is explored by more than one robot. A new exploration technique is proposed to increase the exploration efficiency. Our underlying motivation is the reduction of the current gap between evolutionary robotics and mainstream robotics, and the establishment of evolutionary robotics as a canonical approach for the engineering of autonomous robots.Abstract: In this paper, the exploration and map-building of unknown environment by a team of mobile robots is intensively investigated. We also discuss promising avenues of research. Finally, we address the absence of standard research practices in the field. Second, we discuss specific evolutionary computation issues that have plagued evolutionary robotics: (1) the bootstrap problem, (2) deception, and (3) the role of genomic encoding and genotype-phenotype mapping in the evolution of controllers for complex tasks. First, we analyze the benefits and challenges of simulation-based evolution and subsequent deployment of controllers versus evolution on real robotic hardware. In this article, we review and discuss the open issues in evolutionary robotics. While a number of studies have shown the applicability of evolutionary robotics techniques for the synthesis of behavioral control, researchers have consistently been faced with a number of issues preventing the widespread adoption of evolutionary robotics for engineering purposes. One of the long-term goals in evolutionary robotics is to be able to automatically synthesize controllers for real autonomous robots based only on a task specification.
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