[KSCI] Korea Science Citation Index Service

http://dx.doi.org/10.5391/IJFIS.2004.4.3.327

Learning of Emergent Behaviors in Collective Virtual Robots using ANN and Genetic Algorithm

Cho, Kyung-Dal (Dept. of Computer Science & Engineering, Chung-Ang University)

Publication Information

International Journal of Fuzzy Logic and Intelligent Systems / v.4, no.3, 2004 , pp. 327-336 More about this Journal

Abstract

In distributed autonomous mobile robot system, each robot (predator or prey) must behave by itself according to its states and environments, and if necessary, must cooperate with other robots in order to carry out a given task. Therefore it is essential that each robot have both learning and evolution ability to adapt to dynamic environment. This paper proposes a pursuing system utilizing the artificial life concept where virtual robots emulate social behaviors of animals and insects and realize their group behaviors. Each robot contains sensors to perceive other robots in several directions and decides its behavior based on the information obtained by the sensors. In this paper, a neural network is used for behavior decision controller. The input of the neural network is decided by the existence of other robots and the distance to the other robots. The output determines the directions in which the robot moves. The connection weight values of this neural network are encoded as genes, and the fitness individuals are determined using a genetic algorithm. Here, the fitness values imply how much group behaviors fit adequately to the goal and can express group behaviors. The validity of the system is verified through simulation. Besides, in this paper, we could have observed the robots' emergent behaviors during simulation.

Keywords

Virtual Robot System; Pursuit Domain; Artificial Neural Network(ANN); Artificial Life; Multi-robot;

Citations & Related Records

Reference

1	Gomez, F., & Miikkulainem, R., 'Incremental evolution of complex general behavior', Adaptive Behavior, 5, pp. 317342,1997 DOI ScienceOn
2	Brooks and Maes ed., Artificial Life , MIT Press, 1994
3	A. Asama et. AI. eds, Distributed Autonomous Agentic Systems I, II, Springer-Verlag, 1994
4	H. Asama et aI., Distributed Autonomous Agentic Systems, Springer- Verlag, 1994
5	Kam-Chuen Jim, C.Lee Giles, 'Talkin Helps: Evolving Communicating Agents for the Predator-Prey Pursuit Problem', Artificial Life 6, pp. 237-254, 2000 DOI ScienceOn
6	D.E. Goldberg, Genetic Algorithms in Search, Optimization, and Machine Learning, Addison Wesley, 1989
7	Yasuo Nagayuki, Shin Ishii, 'Multi-Agent Reinforcement Learning: An Approach Based on the Other Agent's Internal Model', From Animals to mates:Proceedings of the 8th Confernece on the Simulation of Adaptive Behavior, MIT Press, pp.478-485, 1999
8	Peter Stone and Manuela Veloso,'Multiagent Systems: A survey from a Machine Learning Perspective', Autonomous Robots, 8, 345-383, 2000 DOI ScienceOn
9	Il-Kwon Jeong and Ju-Jang Lee, 'Evolving Fuzzy Logic Controllers for Multiple Mobile Agents Solving a Continuous Pursuit Problem', IEEE International Fuzzy Systems Conference Froceedings, pp.685-689, 1999
10	D.W. Lee, H. B. Jun, and K.B. Sim, 'Artificial Immune System for Realization of Cooperative Strategies and Group Behavior in Collective Autonomous Mobile Agents,', Proc. of Fourth Int'l Symp. On Artificial Life and Agentics, pp.232-235, 1999
11	H. Asama et aI., Distributed Autonomous Agentic Systems 2, Springer-Verlag, 1996
12	Takayuki Kohri and Matsubayashi , 'An Adaptive Architecture for Modular Q-Learning', In Proceedings of the 10th International Confernece on Simulation of Adaptive Behavior, MIT Press, pp.I-6, 2000
13	K.B Sim, 'Realixation of Intelligent agent system Based on Artificial Life', Journal of Korean Electronics, Vol.24, No.3, pp. 70-82, 1997.3
14	Haynes, T. and Sen, S., 'Learning cases to resolve conflicts and improve group behavior', International Journal of Human Computer Studies, 48, pp. 31-49, 1998
15	Floreano, D., Nolfi, S. and Mondada, F. (2001) CoEvolution and Ontogenetic Change in Competing Agents.In M. Patel, V. Honavar, and K. Balakrishnan (eds.), Advances in the Evolutionary Synthesis of Intelligent Agents, Cambridge (MA): MIT Press
16	Lisa, M.J. Hogg and Nichola R. Jennings, 'Socially Intelligent Reasoning for Autonomous Agents', IEEE Trans. On Systems, Man, and Cybernetics-Part A: Systems and Humans, Vol.31, No.5, pp. 381-393, September, 2001 DOI ScienceOn
17	Carlos Andres Penz-Reyes and Moshe Sipper, 'Fuzzy CoCo: A Cooperative Co-evolutionary Approach to Fuzzy Modeling', IEEE Trans. On Fuzzy Systems, Vo1.9, No.5, pp.727-737, October, 2001 DOI ScienceOn
18	Marco Dorigo, Vittorio Maniezzo, and Alberto Colorni, 'Ant System: Optimization by a Colony of Cooperating Agents', IEEE Trans. On Systems, Man, and CyberneticsPart B: Cybernetics, Vol.26, No.1, pp. 29-41, February, 1996 DOI ScienceOn
19	Victor R. Lesser, 'Cooperative Multiagent systems: A personal view of the state of the art', IEEE Transactions on knowledge data engineering, Vol, No. 1, pp.133-142.1999
20	D. W. Lee, K. B. Sim, 'Behavior Learning and Evolution of Collective Autonomous Mobile Agents using Distributed Genetic Algorithms,' Proc. of 2nd AScian Control Conference, Vol.2, pp.575-678, 1997.7
21	Nolfi, S. and Floreano, D. ,"Co-evolving predator and prey agents: Do 'arm races' arise in artificial evolution?", Artificial Life, 4(4), 311-335, 1998 DOI ScienceOn
22	Floreano, D.,Evolutionary Agentics in Artificial Life and Behavior Engineering. In T. Gomi (ed.), Evolutionary Agentics II, Ontario (Canada): AAI Books, 1998
23	Genetic Programrr.ing : On the Programming of Computers by Means of Natural Selection, MIT Press, 1992
24	Collins, Robert J. and David R, 'An artificial Neural network representauion for artificial organisms', Proceedings of the First workshop on Parallel Problem Solving, Number 496, In Lecture Notes in Computer Science, pp. 259-263, Springer-Verlag, 1992
25	D.W. Lee, K.B. Sim, 'Development of Communication System for Cooperative Behavior in Collective Autonomous Mobile Agents,', Proc. of 2nd AScian Control Conference, Vol.2, pp.615-618, 1997.7