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DEI - FCTUC
Gerado a 2024-03-29 12:51:55 (Europe/Lisbon).
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Titulo Estágio

NeuroEvolution for Robotic Swarms

Áreas de especialidade

Sistemas Inteligentes

Local do Estágio

Departamento de Engenharia Electrotécnica da Universidade de Coimbra

Enquadramento

Natural swarms [1] are composed by simple beings that are unable to fulfill certain tasks independently. However, through their local interactions, complex behaviors emerge that enable them to perform said tasks. These swarms have been sources of inspiration for robotic systems that have as main advantages their robustness, flexibility and scalability. However, designing the individual controllers that produce the desired collective behaviors is not a trivial task, usually solved through trial and error and often resulting in sub-optimal solutions. This thesis aims to investigate a different path, where neuroevolution [2] techniques are applied to automatically produce the individual controllers.

Objetivo

The main goal of this dissertation is to design, implement and test a framework that evolves Artificial Neural Networks to act as controllers for individual robots in a swarm, tasked with locating the sources of airborne pollutants. The student will investigate state-of-the-art approaches for evolving neural networks and tackle issues such as credit assignment [3], internal and external quality assessment, reality gap and (possibly) embodied evolution.[1] - Trianni, Vito. Evolutionary swarm robotics: evolving self-organising behaviours in groups of autonomous robots. Vol. 108. Springer, 2008.[2] - Iba, Hitoshi, and Nasimul Noman. Deep Neural Evolution. Berlin: Springer, 2020.[3] - Sutton, Richard S., and Andrew G. Barto. Reinforcement learning: An introduction. MIT press, 2018.

Plano de Trabalhos - Semestre 1

1 - Literature review.2 - First steps with mobile robots.3 - Definition of the techniques and technologies that will be used.4 - System Architecture Design5 - Implementation of the first version of the system6 - Writing the intermediate report

Plano de Trabalhos - Semestre 2

7 - Analysis of the first prototype and the obtained results8 - Refinement of the prototype9 - Validation in a realistic environment10 - Scientific Article with the main results11 - Writing the thesis

Condições

The work will be carried out in the Laboratory of Embedded Systems of the Institute of System and Robotics (next to the Department of Electrical Engineering of the University of Coimbra).

Orientador

Lino Marques
lino@isr.uc.pt 📩