Concurrent design of control software and configuration of hardware for robot swarms under economic constraints

TLDR

Designing a robot swarm is challenging due to its self‑organized, distributed nature and complex relations between individual robot behavior and emergent collective behavior. This paper studies the concurrent automatic design of control software and hardware configuration for robot swarms. We introduce Waffle, an AutoMoDe-based automatic design method that generates probabilistic finite‑state‑machine control software, configures robot hardware, selects swarm size, and evaluates performance under monetary budget and per‑robot battery constraints. Simulation on three collective missions shows that Waffle produces effective, mission‑specific hardware and software configurations under all tested economic constraints.

Abstract

Designing a robot swarm is challenging due to its self-organized and distributed nature: complex relations exist between the behavior of the individual robots and the collective behavior that results from their interactions. In this paper, we study the concurrent automatic design of control software and the automatic configuration of the hardware of robot swarms. We introduce Waffle, a new instance of the AutoMoDe family of automatic design methods that produces control software in the form of a probabilistic finite state machine, configures the robot hardware, and selects the number of robots in the swarm. We test Waffle under economic constraints on the total monetary budget available and on the battery capacity of each individual robot comprised in the swarm. Experimental results obtained via realistic computer-based simulation on three collective missions indicate that different missions require different hardware and software configuration, and that Waffle is able to produce effective and meaningful solutions under all the experimental conditions considered.