A Metabolic Subsumption Architecture for CooperativeControl of the e-Puck

• Verena Fischer ^[2] ; Simon Hickinbotham ^[1]
  1. [1] University of York

     University of York

     Reino Unido

     
  2. [2] Universidad de Sussex
• Localización: Nature Inspired Cooperative Strategies for Optimization (NICSO 2010) / coord. por Juan R. González, David Alejandro Pelta Mochcovsky, Carlos Cruz, Germán Terrazas, Natalio Krasnogor, 2010, ISBN 978-3-642-12537-9, págs. 1-12
• Idioma: inglés
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• Resumen

  • Subsumption architectures are a well-known model for behaviour-based robotic control. The overall behaviour is achieved by defining a hierarchy of increasingly sophisticated behaviours. We are interested in using evolutionary algorithms to develop appropriate control architectures. We observe that the layered arrangementof behaviours in subsumption architectures are a significant obstacle to automating the development of control systems. We propose an alternative subsumption architecture inspired by the bacterial metabolism, that is more amenable to evolutionarydevelopment, where communities of simple reactive agents combine in a stochastic process to confer appropriate behaviour on the robot. We evaluate this approach by developing a traditional and a metabolic solution to a simple control problem using the e-puck educational robot.