A Genetic Regulatory Network-Inspired Real-Time Controller for a Group of Underwater Robots

Publication details

A Genetic Regulatory Network-Inspired Real-Time Controller for a Group of Underwater Robots

Tim Taylor

2004

Abstract

A decentralised real-time controller for a group of robots is presented, the design of which is inspired by biological genetic regulatory networks. A genetic algorithm (GA) is used to automatically evolve controllers for specific tasks. Results of initial experiments are presented and analysed, which demonstrate that it is possible to successfully evolve the controllers to achieve a simple clustering task. Performance is robust under a variety of parameter choices for the GA and controller.

Full text

Author preprint: pdf

Reference

Taylor, T. (2004). A Genetic Regulatory Network-Inspired Real-Time Controller for a Group of Underwater Robots. In F. Groen, N. Amato, A. Bonarini, E. Yoshida, & B. Kröse (Eds.), Intelligent Autonomous Systems 8 (Proceedings of IAS-8) (pp. 403–412). Amsterdam: IOS Press.

BibTeX

@inproceedings{taylor2004genetic,
  author = {Taylor, Tim},
  title = {A Genetic Regulatory Network-Inspired Real-Time Controller for a Group of Underwater Robots},
  booktitle = {Intelligent Autonomous Systems 8 (Proceedings of IAS-8)},
  year = {2004},
  editor = {Groen, Frans and Amato, Nancy and Bonarini, Andrea and Yoshida, Eiichi and Kr\"{o}se, Ben},
  pages = {403-412},
  address = {Amsterdam},
  publisher = {{IOS} Press},
  category = {conference},
  keywords = {grn, hydra, robots}
}

Note

Record on departmental database: EDI-INF-RR-0184

Related publications

Taylor, T., Ottery, P., & Hallam, J. (2007). An approach to time- and space-differentiated pattern formation in multi-robot systems. In M. S. Wilson, F. Labrosse, U. Nehmzow, C. Melhuish, & M. Witkowski (Eds.), TAROS 2007: Proceedings of Towards Autonomous Robotic Systems 2007 (pp. 160–167). Department of Computer Science, University of Wales, Aberystwyth.
PDF Full details
```
@inproceedings{taylor2007approach,
  author = {Taylor, Tim and Ottery, Peter and Hallam, John},
  title = {An approach to time- and space-differentiated pattern formation in multi-robot systems},
  booktitle = {TAROS 2007: Proceedings of Towards Autonomous Robotic Systems 2007},
  year = {2007},
  editor = {Wilson, Myra S. and Labrosse, Fr\'{e}d\'{e}eric and Nehmzow, Ulrich and Melhuish, Chris and Witkowski, Mark},
  pages = {160--167},
  isbn = {0903878267},
  publisher = {Department of Computer Science, University of Wales, Aberystwyth},
  category = {conference},
  keywords = {grn, hydra, robots}
}
```
Taylor, T., Ottery, P., & Hallam, J. (2007). Pattern formation for multi-robot applications: Robust, self-repairing systems inspired by genetic regulatory networks and cellular self-organisation (Informatics Research Report No. EDI-INF-RR-0971). University of Edinburgh.
PDF Full details
```
@techreport{taylor2007pattern,
  author = {Taylor, Tim and Ottery, Peter and Hallam, John},
  title = {Pattern formation for multi-robot applications: Robust, self-repairing systems inspired by genetic regulatory networks and cellular self-organisation},
  institution = {University of Edinburgh},
  year = {2007},
  type = {Informatics Research Report},
  number = {EDI-INF-RR-0971},
  category = {techreport},
  keywords = {grn, hydra, robots}
}
```

Konidaris, G., Taylor, T., & Hallam, J. (2007). HydroGen: Automatically Generating Self-Assembly Code for Hydron Units. In R. Alami, H. Asama, & R. Chatila (Eds.), Distributed Autonomous Robotic Systems 6 (Proceedings of the Seventh International Symposium on Distributed Autonomous Robotic Systems, DARS04) (pp. 33–42). https://doi.org/10.1007/978-4-431-35873-2_4

PDF Full details

@inproceedings{konidaris2007hydrogen,
  author = {Konidaris, George and Taylor, Tim and Hallam, John},
  title = {HydroGen: Automatically Generating Self-Assembly Code for Hydron Units},
  booktitle = {Distributed Autonomous Robotic Systems 6 (Proceedings of the Seventh International Symposium on Distributed Autonomous Robotic Systems, DARS04)},
  year = {2007},
  editor = {Alami, R. and Asama, H. and Chatila, R.},
  pages = {33-42},
  address = {Toulouse, France},
  doi = {10.1007/978-4-431-35873-2_4},
  note = {DARS04 took place in Toulouse, France, 23-25 June 2004. The proceedings were published by Springer in 2007.},
  publisher = {Springer},
  category = {conference},
  keywords = {hydra}
}

Stewart, F., Taylor, T., & Konidaris, G. (2005). METAMorph: Experimenting with Genetic Regulatory Networks for Artificial Development. In M. S. Capcarrère, A. A. Freitas, P. J. Bentley, C. G. Johnson, & J. Timmis (Eds.), Advances in Artificial Life — 8th European Conference, ECAL 2005 (pp. 108–117). https://doi.org/10.1007/11553090_12

PDF Full details

@inproceedings{stewart2005metamorph,
  author = {Stewart, Finlay and Taylor, Tim and Konidaris, George},
  title = {{METAMorph}: Experimenting with Genetic Regulatory Networks for Artificial Development},
  booktitle = {Advances in Artificial Life --- 8th European Conference, ECAL 2005},
  editor = {Capcarr\`{e}re, Mathieu S. and Freitas, Alex A. and Bentley, Peter J. and Johnson, Colin G. and Timmis, Jon},
  year = {2005},
  publisher = {Springer},
  address = {Berlin},
  series = {Lecture Notes in Computer Science},
  volume = {3630},
  pages = {108--117},
  doi = {10.1007/11553090_12},
  category = {conference},
  keywords = {grn}
}

Østergaard, E. H., Christensen, D. J., Eggenberger, P., Taylor, T., Ottery, P., & Lund, H. H. (2005). HYDRA: From Cellular Biology to Shape-Changing Artefacts. In W. Duch, J. Kacprzyk, E. Oja, & S. Zadrożny (Eds.), Artificial Neural Networks: Biological Inspirations – ICANN 2005 (pp. 275–281). https://doi.org/10.1007/11550822_44

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@inproceedings{ostergaard2005hydra,
  author = {{\O}stergaard, Esben H. and Christensen, David J. and Eggenberger, Peter and Taylor, Tim and Ottery, Peter and Lund, Henrik H.},
  title = {{HYDRA}: From Cellular Biology to Shape-Changing Artefacts},
  booktitle = {Artificial Neural Networks: Biological Inspirations {\textendash} {ICANN} 2005},
  editor = {Duch, W{\l}odzis{\l}aw and Kacprzyk, Janusz and Oja, Erkki and Zadro\.{z}ny, S{\l}awomir},
  year = {2005},
  publisher = {Springer},
  address = {Berlin},
  series = {Lecture Notes in Computer Science},
  volume = {3696},
  pages = {275--281},
  doi = {10.1007/11550822_44},
  category = {conference},
  keywords = {hydra, robots}
}

Taylor, T. (1993). Learning to Coordinate Behaviours on a Four-Legged Robot (Master's thesis). Department of Artificial Intelligence, University of Edinburgh.
PDF Full details
```
@mastersthesis{taylor1993learning,
  author = {Taylor, Tim},
  title = {Learning to Coordinate Behaviours on a Four-Legged Robot},
  school = {Department of Artificial Intelligence, University of Edinburgh},
  year = {1993},
  category = {dissertation},
  keywords = {robots}
}
```