Evolving a path planner for a multi-robot exploration system using grammatical evolution

Abstract

Area exploration and mapping with teams of robots is a challenging application. As the complexity of this application increases so does the challenge of designing effective coordinated control. One potential solution to this problem is to explore some relevant parts of the design space automatically. In this paper, we present an approach which uses Grammatical Evolution to design a control function for coordinated path planning of teams of mobile robots. Simulation results are promising with evolved control functions showing performance better than handwritten control in term of amount of explored area.