Abstract
Mixing societies of natural and artificial systems can provide interesting and potentially fruitful research targets. Here we mix robotic setups and natural plants in order to steer the motion behavior of plants while growing. The robotic setup uses a camera to observe the plant and uses a pair of light sources to trigger phototropic response, steering the plant to user-defined targets. An evolutionary robotic approach is used to design a controller for the setup. Initially, preliminary experiments are performed with a simple predetermined controller and a growing bean plant. The plant behavior in response to the simple controller is captured by image processing, and a model of the plant tip dynamics is developed. The model is used in simulation to evolve a robot controller that steers the plant tip such that it follows a number of randomly generated target points. Finally, we test the simulation-evolved controller in the real setup controlling a natural bean plant. The results demonstrate a successful crossing of the reality gap in the setup. The success of the approach allows for future extensions to more complex tasks including control of the shape of plants and pattern formation in multiple plant setups.
- Renaud Bastien, Stéphane Douady, and Bruno Moulia. 2015. A unified model of shoot tropism in plants: Photo-, gravi- and propio-ception. PLOS Computational Biology 11, 2 (2015), 1--30.Google Scholar
Cross Ref
- Josh C. Bongard. 2013. Evolutionary robotics. Communications of the ACM 56, 8 (2013), 74--83. Google Scholar
Digital Library
- Gilles Caprari, Alexandre Colot, Roland Siegwart, José Halloy, and Jean-Louis Deneubourg. 2005. Animal and robot mixed societies: Building cooperation between microrobots and cockroaches. IEEE Robotics 8 Automation Magazine 12, 2 (2005), 58--65.Google Scholar
- Oscar E. Checa and Matthew W. Blair. 2008. Mapping QTL for climbing ability and component traits in common bean (Phaseolus vulgaris L.). Molecular Breeding 22, 2 (2008), 201--215.Google Scholar
Cross Ref
- Peter Chervenski and Shane Ryan. 2017. MultiNEAT, project website. Retrieved from http://www.multineat.com/.Google Scholar
- John M. Christie and Angus S. Murphy. 2013. Shoot phototropism in higher plants: New light through old concepts. American Journal of Botany 100, 1 (2013), 35--46. arXiv:http://www.amjbot.org/content/100/1/35.full.pdf+htmlGoogle Scholar
Cross Ref
- Rodrigo da Silva Guerra, Hitoshi Aonuma, Koh Hosoda, and Minoru Asada. 2010. Behavior change of crickets in a robot-mixed society. Journal of Robotics and Mechatronics 22, 4 (2010), 526--531.Google Scholar
Cross Ref
- Mohammad Divband Soorati and Heiko Hamann. 2015. The effect of fitness function design on performance in evolutionary robotics: The influence of a priori knowledge. In Proceedings of the 2015 Annual Conference on Genetic and Evolutionary Computation. ACM, 153--160. Google Scholar
Digital Library
- Roy Featherstone and David Orin. 2000. Robot dynamics: Equations and algorithms. In Proceedings of the IEEE International Conference on Robotics and Automation, 2000 (ICRA’00). Vol. 1. 826--834.Google Scholar
Cross Ref
- flora robotica. 2017. Project website. http://www.florarobotica.eu.Google Scholar
- Paco Calvo Garzón and Fred Keijzer. 2011. Plants: Adaptive behavior, root-brains, and minimal cognition. Adaptive Behavior 19, 3 (2011), 155--171. Google Scholar
Digital Library
- Alexey Gribovskiy, José Halloy, Jean-Louis Deneubourg, Hannes Bleuler, and Francesco Mondada. 2010. Towards mixed societies of chickens and robots. In Proceedings of the 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS’10). 4722--4728.Google Scholar
Cross Ref
- José Halloy, Gregory Sempo, Gilles Caprari, Colette Rivault, Mahdi Asadpour, Fabien Tâche, Imen Saïd, Virginie Durier, Stephane Canonge, Jean-Marc Amé, Claire Detrain, Nikolaus Correll, Alcherio Martinoli, Francesco Mondada, Roland Siegwart, and Jean-Louis Deneubourg. 2007. Social integration of robots into groups of cockroaches to control self-organized choices. Science 318, 5853 (Nov. 2007), 1155--1158.Google Scholar
Cross Ref
- Heiko Hamann, Mostafa Wahby, Thomas Schmickl, Payam Zahadat, Daniel Hofstadler, Kasper Stoy, Sebastian Risi, Andres Faina, Frank Veenstra, Serge Kernbach, Igor Kuksin, Olga Kernbach, Phil Ayres, and Przemyslaw Wojtaszek. 2015. flora robotica -- Mixed societies of symbiotic robot-plant bio-hybrids. In Proceedings of IEEE Symposium on Computational Intelligence (IEEE SSCI’15). IEEE, 1102--1109.Google Scholar
Cross Ref
- Sylvain Koos, Jean-Baptiste Mouret, and Stéphane Doncieux. 2013. The transferability approach: Crossing the reality gap in evolutionary robotics. IEEE Transactions on Evolutionary Computation 17, 1 (2013), 122--145. Google Scholar
Digital Library
- Aristid Lindenmayer. 1975. Developmental algorithms for multicellular organisms: A survey of L-systems. Journal of Theoretical Biology 54, 1 (1975), 3--22.Google Scholar
Cross Ref
- Bernard Millet and Pierre-Marie Badot. 1996. The revolving movement mechanism in Phaseolus: New approaches to old questions. Vistas on Biorhythmicity (First Edition), (1996), 77--98.Google Scholar
- Andrew L. Nelson, Gregory J. Barlow, and Lefteris Doitsidis. 2009. Fitness functions in evolutionary robotics: A survey and analysis. Robotics and Autonomous Systems 57 (2009), 345--370. Google Scholar
Digital Library
- Donald Shepard. 1968. A two-dimensional interpolation function for irregularly-spaced data. In Proceedings of the 1968 23rd ACM National Conference (ACM’68). ACM, New York,, 517--524. Google Scholar
Digital Library
- Kenneth O. Stanley and Risto Miikkulainen. 2004. Competitive coevolution through evolutionary complexification. Journal of Artificial Intelligence Research 21, 1 (Jan. 2004), 63--100. Google Scholar
Digital Library
- Ondrej Stava, Soren Pirk, Julian Kratt, Baoquan Chen, Radomir Mech, Oliver Deussen, and Bedrich Benes. 2014. Inverse procedural modelling of trees. Computer Graphics Forum 33, 6 (2014), 118--131. Google Scholar
Digital Library
- Maria Stolarz. 2009. Circumnutation as a visible plant action and reaction: physiological, cellular and molecular basis for circumnutations. Plant Signaling 8 Behavior 4, 5 (2009), 380--387.Google Scholar
Cross Ref
- Sebastian von Mammen and Christian Jacob. 2009. The evolution of swarm grammars -- growing trees, crafting art, and bottom-up design. IEEE Computational Intelligence Magazine 4, 3 (2009), 10--19. Google Scholar
Digital Library
- Mostafa Wahby, Daniel N. Hofstadler, Mary Katherine Heinrich, Payam Zahadat, and Heiko Hamann. 2016. An evolutionary robotics approach to the control of plant growth and motion: Modeling plants and crossing the reality gap. In Proceedings of the 2016 IEEE 10th International Conference on Self-Adaptive and Self-Organizing Systems (SASO’16). IEEE, 21--30.Google Scholar
Cross Ref
- Richard A. Watson, Sevan G. Ficici, and Jordan B. Pollack. 2002. Embodied evolution: Distributing an evolutionary algorithm in a population of robots. Robotics and Autonomous Systems 39, 1 (2002), 1--18.Google Scholar
Cross Ref
- Payam Zahadat, Michael Bodi, Ziad Salem, Frank Bonnet, Marcelo E. D. Oliveira, Francesco Mondada, Karlo Griparic, Tomislav Haus, Stjepan Bogdan, Stjepan Mills, Pedro Mariano, Luis Correia, Olga Kernbach, Serge Kernbach, and Thomas Schmickl. 2014. Social adaptation of robots for modulating self-organization in animal societies. In Proceedings of the 2014 IEEE 8th International Conference on Self-Adaptive and Self-Organizing Systems Workshops (SASOW’14). 55--60. Google Scholar
Digital Library
- Payam Zahadat, Daniel N. Hofstadler, and Thomas Schmickl. 2017. Vascular morphogenesis controller: A generative model for developing morphology of artificial structures. In Proceedings of the Genetic and Evolutionary Computation Conference (GECCO’17). ACM, 163--170. Google Scholar
Digital Library
- Aleš Zamuda and Janez Brest. 2014. Vectorized procedural models for animated trees reconstruction using differential evolution. Information Sciences 278 (2014), 1--21.Google Scholar
Cross Ref
Index Terms
Evolved Control of Natural Plants: Crossing the Reality Gap for User-Defined Steering of Growth and Motion
Recommendations
A robot to shape your natural plant: the machine learning approach to model and control bio-hybrid systems
GECCO '18: Proceedings of the Genetic and Evolutionary Computation ConferenceBio-hybrid systems-close couplings of natural organisms with technology-are high potential and still underexplored. In existing work, robots have mostly influenced group behaviors of animals. We explore the possibilities of mixing robots with natural ...
Design and Research of Double Closed-Loop Control Strategy for Inverted Pendulum System
ISDEA '13: Proceedings of the 2013 Third International Conference on Intelligent System Design and Engineering ApplicationsThe Newton-Euler method was used to derive the dynamic equation of the linear inverted pendulum, and obtained the mathematical model of the linear inverted pendulum after linearization. Based on this model, a double closed-loop control scheme was ...
Design of Smart Car Control System Based on Digital Camera
AIAM2020: Proceedings of the 2nd International Conference on Artificial Intelligence and Advanced ManufactureThis paper designed a smart car control system based on the digital camera OV7620, and STM32 as a control core using digital cameras to obtain road information. To save CPU resources, it enabled DMA function of the host controller. Further, this chapter ...






Comments