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EC_swarm

Pipeline for using Evolutionary Computing techniques applied on swarm robotics.

REQUIREMENTS

This EC pipeline requires the following for the simulator Isaac Gym:

  • Ubuntu 18.04 or 20.04
  • CUDAnn (only an installation is required, there is no need to use it)
  • Python 3.8

Installation

  • clone the repository
git clone https://github.com/fudavd/EC_swarm
  • Download and extract Isaac Gym in the /thirdparty/ folder (can be downloaded from here)
  • Create a Python virtual environment in the EC_swarm root directory:
virtualenv -p=python3.8 .venv
source .venv/bin/activate
pip install -r requirements.txt

Publications

This repo is directly related to the following papers:

  • Van Diggelen, F., Luo, J., Karagüzel, T. A., Cambier, N., Ferrante, E., & Eiben, A. E. (2022, July). Environment induced emergence of collective behavior in evolving swarms with limited sensing. In Proceedings of the Genetic and Evolutionary Computation Conference (pp. 31-39). https://doi.org/10.1145/3512290.3528735. [Branch]
  • Van Diggelen, F., De Carlo, M., Cambier, N., Ferrante, E., & Eiben, A. E. (2024). Emergence of specialized Collective Behaviors in Evolving Heterogeneous Swarms. Arxiv: https://arxiv.org/abs/2402.04763. [Branch]