- author = "Kirsty Montague and Emma Hart and Ben Paechter",
- title = "A Hierarchical Approach to Evolving Behaviour-Trees for Swarm Control",
- booktitle = "27th International Conference, EvoApplications 2024",
- year = "2024",
- editor = "Stephen Smith and Joao Correia and Christian Cintrano",
- series = "LNCS",
- volume = "14634",
- publisher = "Springer",
- address = "Aberystwyth",
- month = "3-5 " # apr,
- pages = "178--193",
- organisation = "EvoStar, Species",
- keywords = "genetic algorithms, genetic programming, Swarm-robotics, Quality-Diversity, QD, MAP-Elites, Readability, XAI",
- isbn13 = "978-3-031-56851-0",
-
URL = "
https://napier-repository.worktribe.com/output/3504046/a-hierarchical-approach-to-evolving-behaviour-trees-for-swarm-control",
-
URL = "https://rdcu.be/dDZSh",
-
DOI = "
10.1007/978-3-031-56852-7_12",
- size = "16 pages",
- abstract = "Behaviour trees (BTs) are commonly used as controllers in robotic swarms due their modular composition and easily interpreted by humans. extra modules can easily be introduced and incorporated into new trees. Genetic Programming (GP) can evolving BTs to achieve a variety of sub-tasks (primitives) of a higher-level goal. we show that a hierarchical controller can be evolved that first uses GP to evolve a repertoire of primitives expressed as BTs, and then to evolve a high-level BT controller that leverages the evolved repertoire for a foraging task. We show that the hierarchical approach that uses BTs at two levels outperforms a baseline in which the BTs are evolved using only low-level nodes. we propose a method to improve the quality of the primitive repertoire, which in turn results in improved high-level BTs.",
-
notes = "footbot robot ARGoS MTGP
http://www.evostar.org/2024/ EvoApplications2024 held in conjunction with EuroGP'2024, EvoCOP2024 and EvoMusArt2024",
