Adaptation and Self-adaptation of Developmental Multi-Robot Systems

Abstract

Abstract—In this work we explore several adaptive and self-adaptive processes in systems with a high degree of developmental plasticity. It is indicated that such systems are driven by two different forces: design goals and self-concept, which define what the system “should be ” and “may be”. The paper discusses mechanisms, leading to adaptive and self-adaptive behavior, as well as possible conflicts between them. Bound and unbound self-concepts are introduced. The discussed mechanisms are exemplified by a collective locomo-tion of reconfigurable multi-robot system, where several self-organizing and evolutionary approaches are exploited. Keywords-Collective robotics, artificial multi-robot organ-isms, adaptation, self-adaptation, self-development, long-term artificial evolution.