Stability of On-Line and On-Board Evolving of Adaptive Collective Behavior

This work focuses on evolving purposeful collective behavior in a swarm of Jasmine micro-robots. We investigate the stability of the online and on-board evolutionary approaches, where mutation, crossover as well as fitness calculation are performed only by interacting micro-robots without using any centralized resources. In this work it is demonstrated that the environment-adaptive collective behavior can be obtained, where the evolving fitness and behavior are partially stable. To increase stability of the approach, some reduction methodology of the search space is proposed.