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Information-driven self-organization: the dynamical system approach to autonomous robot behavior

Nihat Ay, Holger Bernigau, Ralf Der, Mikhail Prokopenko
2011 Theory in biosciences  
This article aims at applying the PI in the dynamical systems approach to robot control.  ...  This and many other examples show that the learning rules derived from the maximum PI principle are a versatile tool for the self-organization of behavior in complex robotic systems.  ...  Nihat Ay also acknowledges support by the Santa Fe Institute at the early stage of the paper.  ... 
doi:10.1007/s12064-011-0137-9 pmid:22125233 fatcat:uknbs6qh2nbebdsvfkrvw2adha

Information Driven Self-Organization of Complex Robotic Behaviors

Georg Martius, Ralf Der, Nihat Ay, Josh Bongard
2013 PLoS ONE  
In this way the information principle, formulated at the level of behavior, is translated to the dynamics of the synapses.  ...  Information theory is a powerful tool to express principles to drive autonomous systems because it is domain invariant and allows for an intuitive interpretation.  ...  Acknowledgments The authors thank Nils Bertschinger, Eckehard Olbrich and Keyan Zahedi for helpful discussions and comments.  ... 
doi:10.1371/journal.pone.0063400 pmid:23723979 pmcid:PMC3664628 fatcat:rapqcmyrxbbafpxzlu7zzahnji

Self-organized control for musculoskeletal robots [article]

Ralf Der, Georg Martius
2016 arXiv   pre-print
When applying this controller to a muscle-tendon driven arm-shoulder system from the Myorobotics toolkit, we observe a vast variety of self-organized behavior patterns: when left alone, the arm realizes  ...  This paper advocates for a new paradigm of self-organized control.  ...  Acknowledgement We thank Alois Knoll for inviting us to work with the Myorobotic arm-shoulder system at the TUM.  ... 
arXiv:1602.02990v2 fatcat:peafbej4j5fbpadldx6pxgl3ai

Self-Organization, Embodiment, and Biologically Inspired Robotics

R. Pfeifer, M. Lungarella, F. Iida
2007 Science  
Self-Organization, Embodiment, and Biologically www.sciencemag.org (this information is current as of June 4, 2009 ): The following resources related to this article are available online at  ...  Conclusion Recent work on bio-inspired robots suggests that self-organization and embodiment are powerful concepts in the development of adaptive autonomous systems.  ...  Fourth, viewing an embodied agent (5) as a complex dynamical system enables us to employ concepts such as self-organization and emergence rather than hierarchical top-down control.  ... 
doi:10.1126/science.1145803 pmid:18006736 fatcat:nl52szzhw5gttmbod5pl454boa

Self-Organization and Artificial Life [article]

Carlos Gershenson, Vito Trianni, Justin Werfel, Hiroki Sayama
2020 arXiv   pre-print
as well as useful constructivist approaches to artificial system design.  ...  Self-organization can be broadly defined as the ability of a system to display ordered spatio-temporal patterns solely as the result of the interactions among the system components.  ...  Acknowledgements This article benefited from comments by Luis Rocha and reviewers from the ALIFE 2018 conference on an earlier version of this work .  ... 
arXiv:1903.07456v2 fatcat:qm2ltfuqjfemlf6rgixhxu6jza

On Adaptive Self-Organization in Artificial Robot Organisms

Serge Kernbach, Heiko Hamann, Jürgen Stradner, Ronald Thenius, Thomas Schmickl, Karl Crailsheim, A.C. van Rossum, Michele Sebag, Nicolas Bredeche, Yao Yao, Guy Baele, Yves Van de Peer (+7 others)
2009 2009 Computation World: Future Computing, Service Computation, Cognitive, Adaptive, Content, Patterns  
When providing collective robotic systems with self-organizing principles, we are facing new problems of making self-organization purposeful, self-adapting to changing environments and faster, in order  ...  Self-organization in natural systems demonstrates very reliable and scalable collective behavior without using any central elements.  ...  The approach of self-organization in connection with evolutionary methods will help to overcome the challenge of designing adaptive behavior in dynamic environments.  ... 
doi:10.1109/computationworld.2009.9 fatcat:xnvctky2kvhcre42xvmhr6zaje

Behavior as broken symmetry in embodied self-organizing robots

Ralf Der, Georg Martius
2013 Advances in Artificial Life, ECAL 2013  
Instead, we develop an understanding of what happens if the system is self-organizing, what the role of the embodiment is and how we can find clues for predicting and shaping the behavior patterns emerging  ...  Self-organization-ubiquitous in nature-is a major challenge for both artificial life and modern robotics offering intriguing perspectives for practical applications utilized so far only incipiently.  ...  Acknowledgments The authors gratefully acknowledge the great hospitality in the group of Nihat Ay.  ... 
doi:10.7551/978-0-262-31709-2-ch086 dblp:conf/ecal/DerM13 fatcat:qb2ossgosjh5diykzl6vtobhya

Embodied robots driven by self-organized environmental feedback [article]

Frederike Kubandt, Michael Nowak, Tim Koglin, Claudius Gros, Bulcsu Sandor
2019 arXiv   pre-print
Which kind of complex behavior may arise from self-organizing principles?  ...  The robot is self organized both on the level of the individual wheels and with respect to inter-wheel coordination, which arises exclusively from the mechanical coupling of the individual wheels and segments  ...  Acknowledgments The support of the German Science Foundation (DFG) is acknowledged. Self-organized embodied robots  ... 
arXiv:1905.07153v1 fatcat:rzeawswjo5d6pe5yr6lg4h6aa4

Hormone-Inspired Self-Organization and Distributed Control of Robotic Swarms

Wei-Min Shen, Peter Will, Aram Galstyan, Cheng-Ming Chuong
2004 Autonomous Robots  
Different from most existing distributed control and learning mechanisms, DHM considers the topological structure of the organization, supports dynamic reconfiguration and self-organization, and requires  ...  The DHM model is probabilistic, dynamic, fault-tolerant, computationally efficient, and can be easily tasked to change global behavior.  ...  These allow the Digital Hormone Model to support dynamic reconfigurations and self-organization in network structures.  ... 
doi:10.1023/b:auro.0000032940.08116.f1 fatcat:c3l56arwzbegdie2iehozpkwoi

Bio-Inspired Networking — Self-Organizing Networked Embedded Systems [chapter]

Falko Dressler
2009 Understanding Complex Systems  
In particular, we study the behavior and the challenges in networked embedded systems that are meant to self-organize in large groups of nodes.  ...  We study mechanisms in swarm intelligence, the artificial immune system, and approaches based on investigations on the cellular signaling pathways.  ...  Self-organizing autonomous systems Autonomously acting single systems performing local programs and acting on local data but participating on a global task, i.e. showing an emergent behavior.  ... 
doi:10.1007/978-3-540-77657-4_13 fatcat:b5itvfopuvdbpcaxw663bzwv7m

Prominent Causal Paths in a Simple Self-Organizing System

Nicholas C. Georgantzas, Evangelos Katsamakas
2012 International Journal of Information Technologies and Systems Approach  
The culmination of Parunak and Brueckner's (2001) ant pheromone-driven self-organizing system into a system dynamics (SD) model, allows unearthing exactly how circular feedback-loop relations determine  ...  self-organizing systems (CASOS).  ... 
doi:10.4018/jitsa.2012070102 fatcat:lzexzlgftbhdnf47j6r4ntikf4

ROBUSTNESS OF GUIDED SELF-ORGANIZATION AGAINST SENSORIMOTOR DISRUPTIONS

GEORG MARTIUS
2013 Advances in Complex Systems  
Self-organizing systems have no central unit and are tolerant to faulty components [21] .  ...  Given these properties it appears attractive to utilize self-organization for controlling autonomous robots in order to make them less fragile against disturbances of all kinds.  ...  A promising approach to the self-organization of behavior was provided by the homeokinesis principle [6] and the maximization of the predictive information [1] .  ... 
doi:10.1142/s021952591350001x fatcat:3hu3sziasfh5tnpbgmovylsonu

MODULATED EXPLORATORY DYNAMICS CAN SHAPE SELF-ORGANIZED BEHAVIOR

FRANK HESSE, RALF DER, J. MICHAEL HERRMANN
2009 Advances in Complex Systems  
Both systems are driven by the same low-level scheme, but use the second-order information in different ways.  ...  We study an adaptive controller that adjusts its internal parameters by self-organization of its interaction with the environment.  ...  Acknowledgment This work was supported by the BMBF in the framework of the Bernstein Centers for Computational Neuroscience, grant number 01GQ0432. Discussions with C. Kolodziejski and G.  ... 
doi:10.1142/s0219525909002258 fatcat:slsf2lgbfvhfxhqufeejijmnt4

Paradigm-Independent Engineering of Complex Self-Organizing Systems

Michael Zapf
2011 Electronic Communications of the EASST  
We present EPAC, a novel approach to design and engineer systems of autonomous components.  ...  EPAC is based on the Model-Driven Architecture concept and subsumes concepts from different design paradigms that are related to the construction of complex systems, like multi-agent systems, multi-robot  ...  For example, the designer may consider to associate the autonomic feature of self-organization to the complete ACE.  ... 
doi:10.14279/tuj.eceasst.37.478 dblp:journals/eceasst/Zapf11 fatcat:ievhnjblknas7gs7fggb2mqequ

Self-organization and multiagent systems: I. Models of multiagent self-organization

V. I. Gorodetskii
2012 Journal of computer & systems sciences international  
The purposes of this paper are to analyze the state of the art in the field of multiagent self organizing systems, to provide a critical review of the available applica tions, analyze development techniques  ...  Applica tions of self organizing multiagent systems in telecommunication, grid 1 resource management, and routing in computer networks with dynamic topology, as well as applications in distributed learning  ...  ACKNOWLEDGMENTS The results presented in Section 5.4 were obtained within program No. 14 of the Presidium of the Rus sian Academy of Sciences, project no. 214.  ... 
doi:10.1134/s106423071201008x fatcat:vpvk7xl4gzd2dp7cduje67uxui
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