Abstract
Self-reconfigurable modular robotics represents a new
approach to robotic hardware, in which the "robot"
is composed of many simple, identical interacting
modules. We propose a novel application of modular
robotics: the programmable smart membrane, a device
capable of actively filtering objects based on numerous
measurable attributes. Creating control software for
modular robotic tasks like the smart membrane is one of
the central challenges to realizing their potential
advantages. We use genetic programming to evolve
distributed control software for a 2-dimensional smart
membrane capable of distinguishing objects based on
color. The evolved controllers exhibit scalability to a
large number of modules and robustness to the initial
configurations of the robotic filter and the
particles.
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