Towards a Unified Framework for Software-Hardware Integration in Evolutionary Robotics

Edgar Buchanan, Léni K. Le Goff, Matthew F. Hale, Emma Hart, Agoston E. Eiben, Matteo De Carlo, Mike Angus, Robert Woolley, Jon Timmis, Alan F. Winfield, Andy M. Tyrrell

Allbwn ymchwil: Cyfraniad at gyfnodolynErthygladolygiad gan gymheiriaid

Crynodeb

The discrepancy between simulated and hardware experiments, the reality gap, is a challenge in evolutionary robotics. While strategies have been proposed to address this gap in fixed-body robots, they are not viable when dealing with populations and generations where the body is in constant change. The continual evolution of body designs necessitates the manufacturing of new robotic structures, a process that can be time-consuming if carried out manually. Moreover, the increased manufacturing time not only prolongs hardware experimental durations but also disrupts the synergy between hardware and simulated experiments. Failure to effectively manage these challenges could impede the implementation of evolutionary robotics in real-life environments. The Autonomous Robot Evolution project presents a framework to tackle these challenges through a case study. This paper describes the main three contributions of this work: Firstly, it analyses the different reality gap experienced by each different robot or the heterogenous reality gap. Secondly, it emphasizes the importance of automation in robot manufacturing. And thirdly, it highlights the necessity of a framework to orchestrate the synergy between simulated and hardware experiments. In the long term, integrating these contributions into evolutionary robotics is envisioned to enable the continuous production of robots in real-world environments.

Iaith wreiddiolSaesneg
Rhif yr erthygl157
CyfnodolynRobotics
Cyfrol13
Rhif cyhoeddi11
Dyddiad ar-lein cynnar25 Hyd 2024
Dynodwyr Gwrthrych Digidol (DOIs)
StatwsCyhoeddwyd - Tach 2024

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