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Real hardware evolution of neural controllers for robot multiple tasks performance

Research Project

Project/Area Number 19700196
Research Category

Grant-in-Aid for Young Scientists (B)

Allocation TypeSingle-year Grants
Research Field Perception information processing/Intelligent robotics
Research InstitutionUniversity of Toyama

Principal Investigator

CAPI Genci  University of Toyama, 大学院理工学研究部(工学), 准教授 (20389399)

Project Period (FY) 2007 – 2008
Project Status Completed (Fiscal Year 2008)
Budget Amount *help
¥3,540,000 (Direct Cost: ¥3,300,000、Indirect Cost: ¥240,000)
Fiscal Year 2008: ¥1,040,000 (Direct Cost: ¥800,000、Indirect Cost: ¥240,000)
Fiscal Year 2007: ¥2,500,000 (Direct Cost: ¥2,500,000)
Keywords知能ロボット / マルチロボット / 進化アルゴリズム / ニューラルネット / マルチタスク
Research Abstract

同時に複数のタスクを達成する多目的最適化手法は、日常生活の場へロボットの応用範囲を広げるために必要と考えられる。進化ロボティクスや強化学習ではマルチタスクの問題は良い結果が得られるような効果的な方法が提案されていない。または、シミュレーションで生成したニューラルコントローラーをロボットで実際に実験を行ってきた。この研究ではリアルハードウェアニューラルコントローラ多目的進化によるマルチタスク実行を考えた。19年度に開発した進化アルゴリズムおよびコミュニケーションメカニズムに基づき、20年度はリアルハードウェア進化を使用してマルチタスク実行するロボットを開発した。または、ニューラルネットの構造を小規模にするためにニューラルネットの構造を多目的遺伝的アルゴリズムの目的関数に追加した。まず、シミュレーションで小さいニューラルネットワークを生成しそのニューラルネットをリアルハードウェアで進化させる方法をとった。多目的進化で小さいニューラルネットワークを進化が可能となることを確認した。この研究ではシミュレーションと実験ではe-puckロボットを使用した。この研究は、ハイインパクトジャーナル(IEEE Transactions on Robotics)と国際会議等(IROS, ICRA)で発表した。この研究の結果はVertical news でも掲載された。

Report

(3 results)
  • 2008 Annual Research Report   Final Research Report ( PDF )
  • 2007 Annual Research Report
  • Research Products

    (22 results)

All 2009 2008 2007 Other

All Journal Article (10 results) (of which Peer Reviewed: 3 results) Presentation (7 results) Book (2 results) Remarks (3 results)

  • [Journal Article] Evolution of Neural Controllers in Real Mobile Robots for Task Switching Behaviors2009

    • Author(s)
      G. Capi, S. Kaneko
    • Journal Title

      Int. Journal of Innovative Computing, Information and Control (to appear)

    • Related Report
      2008 Final Research Report
  • [Journal Article] Evolution of Low Complexity Neural Controllers and Genetic Encoding2008

    • Author(s)
      G. Capi
    • Journal Title

      Journal of Advanced Computational Intelligence and Intelligent Informatics (JACIII) Vol. 12, No. 4

      Pages: 377-381

    • Related Report
      2008 Final Research Report
  • [Journal Article] Evolution of low complexity neural controllers based on multiobjective evolution2008

    • Author(s)
      G. Capi, S. Kaneko
    • Journal Title

      International Journal of Artificial Life and Robotics, 2007 Vol. 12, No. 1

      Pages: 53-58

    • Related Report
      2008 Final Research Report
  • [Journal Article] Evolution of Neural Controllers in Real Mobile Robots for Task Switching Behaviors2008

    • Author(s)
      G Capi, S. Kaneko
    • Journal Title

      International Journal of Innovative Computing, Information and Control/ (IJICIC) (In press)

    • Related Report
      2008 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Evolution of low complexity neural controllers based on multiobjective evolution2008

    • Author(s)
      G Capi, S. Kaneko
    • Journal Title

      International Journal of Artificial Life and Robotics 1

      Pages: 53-58

    • Related Report
      2008 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Multiobjective Evolution of Neural Controllers and Task Complexity2008

    • Author(s)
      G Capi
    • Journal Title

      Journal of Advanced Computational Intelligence and Intelligent Informatics (JACIII) 4

      Pages: 377-381

    • Related Report
      2008 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Evolution of Low Complexity Neural Controllers and Genetic Encoding2008

    • Author(s)
      G. Capi
    • Journal Title

      Journal of Advanced Computational Intelligence and Intelligent Informatics (JACIII)

    • Related Report
      2007 Annual Research Report
  • [Journal Article] Evolution of low complexity neural controllers based on multiobjective evolution2008

    • Author(s)
      G. Capi, S. Kaneko
    • Journal Title

      International Journal of Artificial Life and Robotics 1

      Pages: 53-58

    • Related Report
      2007 Annual Research Report
  • [Journal Article] Multiobjective Evolution of Neural Controllers and Task Complexity2007

    • Author(s)
      G. Capi
    • Journal Title

      IEEE Transactions on Robotics Vol. 23, No.6

      Pages: 1225-1234

    • Related Report
      2008 Final Research Report
  • [Journal Article] Multiobjecvtive Evolution of Neural Controllers and Task Complexity2007

    • Author(s)
      G. Capi
    • Journal Title

      IEEE Transactions on Robotics 6

      Pages: 1225-1234

    • Related Report
      2007 Annual Research Report
  • [Presentation] Evolution of Task Switching Behaviors in Real Mobile Robots2008

    • Author(s)
      G Capi, G Pojani, S. Kaneko
    • Organizer
      3rd International Conference of Innovative Computing Information and Control (ICICIC2008)
    • Place of Presentation
      大連, 中国
    • Year and Date
      2008-06-18
    • Related Report
      2008 Annual Research Report
  • [Presentation] Evolution of Efficient Neural Controllers for Robot Multiple Task Performance -A Multiobiective Approach2008

    • Author(s)
      G Capi
    • Organizer
      2008 IEEE International Conference on Robotics and Automation (ICRA2008)
    • Place of Presentation
      パサデナ、アメリカ
    • Year and Date
      2008-05-22
    • Related Report
      2008 Annual Research Report
  • [Presentation] Evolution of Efficient Neural Controllers for Robot Multiple Task Performance-A Multiobjective Approach2008

    • Author(s)
      G. Capi
    • Organizer
      2008 IEEE International Conference on Robotics and Automation (ICRA2008)
    • Place of Presentation
      パサデナ、アメリカ
    • Year and Date
      2008-05-22
    • Related Report
      2007 Annual Research Report
  • [Presentation] Evolution of Task Switching Behaviors in Real Mobile Robots2008

    • Author(s)
      G. Capi, G. Pojani, S. Kaneko
    • Organizer
      3rd International Conference of Innovative Computing Information and Control (ICICIC2008)
    • Place of Presentation
      Dalian, China
    • Related Report
      2008 Final Research Report
  • [Presentation] Evolution of Efficient Neural Controllers for Robot Multiple Task Performance - A Multiobjective Approach2008

    • Author(s)
      G. Capi
    • Organizer
      2008 IEEE International Conference on Robotics and Automation (ICRA2008)
    • Related Report
      2008 Final Research Report
  • [Presentation] Robot Task Switching in Complex Environments2007

    • Author(s)
      G. Capi
    • Organizer
      Int. Conf. on Artificial Intelligent Mechatronics (AIM2007)
    • Place of Presentation
      スイス
    • Year and Date
      2007-09-04
    • Related Report
      2007 Annual Research Report
  • [Presentation] Robot Task Switching in Complex Environments2007

    • Author(s)
      G. Capi
    • Organizer
      Int. Conference on Artificial Intelligent Mechatronics
    • Related Report
      2008 Final Research Report
  • [Book] New Research on Mobile Robots, Chapter 2, (Editors: Ernest V. Gaines and Lawrence W. Peskov)2008

    • Author(s)
      G. Capi, S. Kaneko
    • Publisher
      Nova Science Pub Inc,
    • Related Report
      2008 Final Research Report
  • [Book] New Research on Mobile Robots2008

    • Author(s)
      G. Capi, S. Kaneko
    • Total Pages
      264
    • Publisher
      Nova Science Pub Inc
    • Related Report
      2008 Annual Research Report
  • [Remarks]

    • URL

      http://www3.u-toyama.ac.jp/robot/capi.html

    • Related Report
      2008 Final Research Report
  • [Remarks]

    • URL

      http://www3.u-toyama.ac.jp/robot/capi.html

    • Related Report
      2008 Annual Research Report
  • [Remarks]

    • URL

      http://www3.u-toyama.ac.jp/robot/capi.html

    • Related Report
      2007 Annual Research Report

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Published: 2007-04-01   Modified: 2016-04-21  

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