Coordination and Behaviour Integration in Cooperating Simulated Robots

摘要

This paper shows how a group of evolved physicallylinked robots are able to display a variety of highly coordinated basic behaviours (coordinated motion, coordinated obstacle avoidance, coordinated light approaching) and to integrate such behaviours into a single coherent behaviour. In this way the group is capable of searching and approaching a light target in an environment scattered with obstacles, furrows, and holes and of dynamically changing its shape in order to pass through narrow passages. The paper analyses in detail the emerged basic behaviours and shows how the coordination of the group relies upon robust self-organising principles based on a traction sensor that allows the single robots to perceive the “average” direction of motion of the rest of the group. 1.