Robotic Swarm Cooperation By Co-Adaptation

This paper presents a framework for co-adapting mobile sensors in hostile environments to allow telepresence of a distant user. The presented technique relies on cooperative co-evolution for sensor placement. It is shown that cooperative co-evolution is able to find simultaneously the required number of sensors to observe a given environment and a configuration that is consistently better than other well know optimization algorithms. Moreover, it is presented that co-evolution is also able to quickly reach a new configuration when the environment changes.