Title :
SymbricatorRTOS: A flexible and Dynamic framework for bio-inspired robot control systems and evolution
Author :
Szymanski, M. ; Winkler, L. ; Laneri, D. ; Schlachter, F. ; van Rossum, A.C. ; Schmickl, T. ; Thenius, R.
Author_Institution :
Inst. for Process Control & Robot. (IPR), Univ. Karlsruhe, Karlsruhe
Abstract :
One of the main aspects of the dasiaSYMBRIONpsila and dasiaREPLICATORpsila projects is that the robots can aggregate to form a multi-robot organism. For this reason the control mechanisms have to be able to control a single robot, a swarm of robots or an aggregated collective organism. To break down the complexity of development and to take the interaction with the environment and other robots into account, bio-inspired and evolutionary concepts are applied. In this paper we describe the underlying software architecture for the projects to enable different controller types, evolution and learning.
Keywords :
control engineering computing; evolutionary computation; multi-robot systems; software architecture; bioinspired robot control systems; evolutionary concepts; multirobot organism; software architecture; Aggregates; Hardware; Humans; Operating systems; Organisms; Parallel robots; Robot control; Robot sensing systems; Service robots; Software architecture;
Conference_Titel :
Evolutionary Computation, 2009. CEC '09. IEEE Congress on
Conference_Location :
Trondheim
Print_ISBN :
978-1-4244-2958-5
Electronic_ISBN :
978-1-4244-2959-2
DOI :
10.1109/CEC.2009.4983365
