Hormone-inspired behaviour switching for the control of collective robotic organisms

Citations of this article
Mendeley users who have this article in their library.


Swarming and modular robotic locomotion are two disconnected behaviours that a group of small homogeneous robots can be used to achieve. The use of these two behaviours is a popular subject in robotics research involving search, rescue and exploration. However, they are rarely addressed as two behaviours that can coexist within a single robotic system. Here, we present a bio-inspired decision mechanism, which provides a convenient way for evolution to configure the conditions and timing of behaving as a swarm or a modular robot in an exploration scenario. The decision mechanism switches among two behaviours that are previously developed (a pheromone-based swarm control and a sinusoidal rectilinear modular robot movement). We use Genetic Programming (GP) to evolve the controller for these decisions, which acts without a centralized mechanism and with limited inter-robot communication. The results show that the proposed bio-inspired decision mechanism provides an evolvable medium for the GP to utilize in evolving an effective decision-making mechanism.




Kuyucu, T., Tanev, I., & Shimohara, K. (2013). Hormone-inspired behaviour switching for the control of collective robotic organisms. Robotics, 2(3), 165–184. https://doi.org/10.3390/robotics2030165

Register to see more suggestions

Mendeley helps you to discover research relevant for your work.

Already have an account?

Save time finding and organizing research with Mendeley

Sign up for free