05 Fakultät Informatik, Elektrotechnik und Informationstechnik

Permanent URI for this collectionhttps://elib.uni-stuttgart.de/handle/11682/6

Browse

Filters

2011 - 20122

Settings

Institute: search.filters.UBSInstitut.Institut für Parallele und Verteilte SystemeAuthor: search.filters.author.Alschbach, Patrick

Search Results

Now showing 1 - 2 of 2
  • Thumbnail Image
    ItemOpen Access
    Online evolution and adaptation of central pattern generators for multi-robot organisms
    (2012) Alschbach, Patrick
    This thesis deals with possibility to provide a robot organism, consisting of an amount of single smaller robots, with the ability of locomotion. It is integrated into the SYMBRION project which is funded by the European Union. The used robots and the simulation environment are a product from this major project for swarm robotics. The presented locomotion approach uses artificial neural networks which are composed of third generation neurons called “Spiking Neurons”. For evaluating the generated motion patterns the artificial neural networks are evolutionary adapted which was realized by using “Evolutionary Acquisition of Neural Topologies”. In this thesis the evolutionary engine “EvoRoF”, launched by Florian Schlachter of the University of Stuttgart, was used. The findings of this scientific work were included directly in the adjustment process of this evolutionary engine. Specially the focus of this thesis is on distributed online evolution. Meaning that each robot of the whole organism has its own population of individuals and thus its own set of artificial neural networks. In the course of the evolutionary process the artificial neural networks start from scratch on directly on the robotic system. There are no networks which were precalculated on a desktop computer.
  • Thumbnail Image
    ItemOpen Access
    Autonomous docking of heterogenous robots
    (2011) Alschbach, Patrick
    This student research project is part of the SYMBRION and REPLICATOR projects. Symbrion and Replicator stands for two different, partly overlapping projects named SYMBRION and REPLICATOR, respectively. These two research projects are supported by the European Commission. Their focus is to investigate and develop novel principles of adaptation and evolution for symbiotic multi-robot organisms. These robot organisms consist of super-large-scale swarms of robots. The special feature in the SYMBRION and REPLICATOR projects is that the robots are able to connect to each other. The robot hardware consists of different sensors and actuators. These preconditions enables the dynamically self-organized aggregated organisms to solve different tasks. For the development of novel principles bio-inspired and evolutionary algorithms are used. The focus of this work relies on the development of a mechanism for close cooperation between three different types of robots evolved in the SYMBRION and REPLICATOR projects. These three systems differ in their mode of locomotion and their sensors, as described later. The different robots can move completely free in the area in single mode. At any time, a single robot autonomously decides to form an organism with other robots. To form an organism the single robot has to connect firmly with another one. For this reason, the various robots are equipped with docking elements. The aim of this study is an algorithmic solution linking these docking elements.