Automatic modular design of robot swarms using behavior trees as a control architecture.

ABSTRACT: We investigate the possibilities, challenges, and limitations that arise from the use of behavior trees in the context of the automatic modular design of collective behaviors in swarm robotics. To do so, we introduce Maple, an automatic design method that combines predefined modules-low-level behaviors and conditions-into a behavior tree that encodes the individual behavior of each robot of the swarm. We present three empirical studies based on two missions: aggregation and Foraging. To explore the strengths and weaknesses of adopting behavior trees as a control architecture, we compare Maple with Chocolate, a previously proposed automatic design method that uses probabilistic finite state machines instead. In the first study, we assess Maple's ability to produce control software that cros

SUBMITTER: Ligot A 

PROVIDER: S-EPMC7924474 | biostudies-literature | 2020

REPOSITORIES: biostudies-literature