Host: Japan Society for Fuzzy Theory and Intelligent Informatics (SOFT)
Swarm robotic systems is the research field of multi-robot systems which consist of many homogeneous autonomous robots without any type of global controllers. Generally, since a task given to this system can not be achieved by a single autonomous robot, emergent cooperative behavior is expected in a robot swarm by a certain mechanism through the interactions among the robots or with an environment. In this paper, an evolutionary robotics approach, i.e., the method that the robot controllers are designed by evolutionary algorithms with artificial neural networks, is adopted. It has been found that the topology of an ANN must be important for the improving evolvability, but the systematic design method has not been known so far. In this paper, we build ANN with the hidden layer of small world network, and examine whether ANN with the hidden layer of small world network performs better than ANN with the hidden layer of regular or random graph.
