Analysis of behavioural strategies on Evolutionary Swarm Robotics Systems using functional circles with Self-organizing Maps

Various techniques for developing adaptive collective behavior in Evolutionary Swarm Robotics Systems have received a lot of attention in recent years. However, it is difficult to analyze the behavior which these robots acquired through the evolutionary computation, and there was no decisive approach. We think that it is possible to analyze the characteristic traits of the strategy by understanding essential environmental information that is the base of the features of each individual robots. In this research, we attempt to develop the analysis method of the robot´s behavioural strategy using the description method of the perceptual world peculiar to living organisms. We propose the analysis method for the dynamics of robot´s behavioural strategy by creating functional circles. Moreover, these functional circles is obtained by clustering robot´s sensor input by Self-organizing Maps.