Abstract
We compare the efficacy of the Enforced Sub-Populations (ESP) and Collective Neuro-Evolution (CONE) methods for designing behavioral specialization in a multi-rover collective behavior task. These methods are tested for Artificial Neural Network (ANN) controller design in an extension of the multi-rover task, where behavioral specialization is known to benefit task performance. The task is for multiple simulated autonomous vehicles (rovers) to maximize the detection of points of interest (red rocks) in a virtual environment. The task requires rovers to collectively sense such points of interest in order for them to be detected. Results indicate that the CONE method facilitates a level of specialization appropriate for achieving a significantly higher task performance, comparative to rover teams evolved by the ESP method.
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