Title: Morphogenetic Self-Organization of Swarm Robotic Systems for Robust Boundary Coverag
and Target Tracking
Speaker: Yaochu Jin
时间地点：四月六日下午14：00至15：30；南一楼中311室
Abstract: Embryonic development of multi-cellular organisms, also known as morphogenesis, is considered to be a robust self-organization process for pattern generation. Inspired by the recent findings in systems biology indicating that morphogen gradients, together with a gene regulatory network (GRN), plays a key role in biological patterning, we propose a morphogenetic framework for self-organized multi-robot pattern formation and boundary coverage. The proposed framework does not need a global coordinate system and is able to construct arbitrary 2D or 3D shapes, which makes it more powerful for complex pattern construction. Furthermore, we propose a hierarchical GRN (H-GRN) for adaptive multi-robot pattern formation in changing environments. The H-GRN consists of two-layers, where the first layer is responsible for adaptive pattern generation for a given environment, whilst the second layer is a decentralized control mechanism that drives the robots onto the pattern generated by the first layer.
Single and multi-objective evolutionary algorithms are employed to optimize the parameters in the GRNs to reduce the time for the robots to converge to the target shape, and to minimize the distance the robots need to travel in pattern formation. Both simulations and proof-of-concept experiments using e-Puck robots have been conducted to demonstrate the effectiveness of the morphogenetic self-organization framework. The system is also shown to be robust to partial system failures and environmental changes.
Biography: Yaochu Jin received the B.Sc., M.Sc., and Ph.D. degrees, all in automatic control from Zhejiang University, Hangzhou, China, in 1988, 1991, and 1996, respectively, and the Dr.-Ing. Degree in Computer Science from Ruhr University Bochum, Germany, in 2001.
Dr Jin is currently Full Professor and Chair in Computational Intelligence, Department of Computing, University of Surrey, UK, where he also heads the Nature Inspired Computing and Engineering (NICE) Group. Priori to joining Surrey, he was Principal Scientist and Group Leader at the Honda Research Institute Europe. His main research interests include computational approaches to understanding evolution, learning and development in biology, and bio-inspired approaches to complex systems design. He has (co)edited four books and three conference proceedings, authored a monograph, and (co)authored over 150 peer-reviewed journal and conference papers. His papers have reported over 4400 citations, of which more than 1400 were included in ISI Web of Science.
Dr Jin is an Associate Editor of BioSystems, the IEEE Transactions on Neural Networks, the IEEE Transactions on Nanobioscience, the IEEE Transactions on Systems, Man, and Cybernetics, Part C: Applications and Reviews, and the IEEE Computational Intelligence Magazine. He is also an Area Editor of Soft Computing. He is Chair of the 2007, 2009, 2011 IEEE Symposium on Computational Intelligence in Multi-Criterion Decision-Making, General Chair of 2012 IEEE Symposium on Computational Intelligence in Bioinformatics and Computational Biology, General Chair of 2013 UK Workshop on Computational Intelligence and Program Chair of 2013 IEEE Congress on Evolutionary Computation. He is a Fellow of BCS and Senior Member of IEEE.
学院公众号二维码