Paper:

# Cooperative Transport by a Swarm Robotic System Based on CMA-NeuroES Approach

## Tian Yu^{*}, Toshiyuki Yasuda^{*}, Kazuhiro Ohkura^{*},

Yoshiyuki Matsumura^{**}, and Masanori Goka^{***}

^{*}Graduate School of Engineering, Hiroshima University, 1-4-1 Kagamiyama, Higashi-Hiroshima, Hiroshima 739-8527, Japan

^{**}Graduate School of Science and Technology, Shinshu University, 3-15-1 Tokida, Ueda, Nagano 386-8567, Japan

^{***}Graduate School of Engineering, Fukuyama University, 985-1 Fukuyama City, Hiroshima 729-0251, Japan

Swarm robotic systems consist of many homogeneous autonomous robots with no type of global controllers. It is difficult to design controllers for such behavioral systems, since the behavior of system level is the emergent results of the dynamical interaction between the systems and the environment. This paper uses a method that in which robot controllers are designed by a covariance matrix adaptation evolution strategy (CMA-ES) with artificial neural networks. This approach is referred to as CMA-NeuroES. Among the many evolutionary algorithms for evolving artificial neural networks, two conventionally representation approaches, fast evolution strategies and differential evolution, are used for comparison. The cooperative transport problem is used as a benchmark of swarm robotic systems to test their performance. Results show that CMA-NeuroES has the overall best performance of the three.

Yoshiyuki Matsumura, and Masanori Goka, “Cooperative Transport by a Swarm Robotic System Based on CMA-NeuroES Approach,”

*J. Adv. Comput. Intell. Intell. Inform.*, Vol.17, No.6, pp. 932-942, 2013.

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