@inproceedings{20160, author = {{Hamann, Heiko}}, booktitle = {{7th IEEE Int. Conf. on Self-Adaptive and Self-Organizing Systems (SASO 2013)}}, pages = {{227--236}}, publisher = {{IEEE Press}}, title = {{{A Reductionist Approach to Hypothesis-Catching for the Analysis of Self-Organizing Decision-Making Systems}}}, doi = {{10.1109/SASO.2013.10}}, year = {{2013}}, } @inproceedings{20161, author = {{Hamann, Heiko and Lio, Pietro and Miglino, Orazio and Nicosia, Giuseppe and Nolfi, Stefano and Pavone, Mario}}, booktitle = {{12th European Conference on Artificial Life (ECAL 2013)}}, publisher = {{MIT Press}}, title = {{{Speciation Dynamics: Generating Selective Pressure Towards Diversity}}}, year = {{2013}}, } @article{20162, author = {{Hamann, Heiko}}, journal = {{Swarm Intelligence}}, number = {{3}}, pages = {{145--172}}, title = {{{Towards Swarm Calculus: Urn Models of Collective Decisions and Universal Properties of Swarm Performance}}}, doi = {{10.1007/s11721-013-0080-0}}, volume = {{7}}, year = {{2013}}, } @inproceedings{20173, abstract = {{This paper investigates the properties required to evolve Artificial Neural Networks for distributed control in modular robotics, which typically involves non-linear dynamics and complex interactions in the sensori-motor space. We investigate the relation between macro-scale properties (such as modularity and regularity) and micro-scale properties in Neural Network controllers. We show how neurons capable of multiplicative-like arithmetic operations may increase the performance of controllers in several ways whenever challenging control problems with non-linear dynamics are involved. This paper provides evidence that performance and robustness of evolved controllers can be improved by a combination of carefully chosen micro- and macro-scale neural network properties.}}, author = {{Hamann, Heiko and Stradner, Jürgen and Bredeche, Nicolas and Cazenille, Leo}}, booktitle = {{14th Annual Genetic and Evolutionary Computation Conference, GECCO 2012}}, pages = {{89--96}}, publisher = {{ACM}}, title = {{{Impact of Neuron Models and Network Structure on Evolving Modular Robot Neural Network Controllers}}}, doi = {{10.1145/2330163.2330177}}, year = {{2012}}, } @inproceedings{20174, abstract = {{As a contribution to the efforts towards robotic systems of higher flexibility we present our concept of morphologically dynamic robots. Within the projects SYMBRION and REPLICATOR, that focus on modular robotics, we have developed bio-inspired control techniques to achieve new concepts of dynamic, autonomous morphological structures. We propose three modes of coupling between robot modules: swarm, team, and organism mode. We demonstrate our concepts along with simple robot experiments.}}, author = {{Hamann, Heiko and Schmickl, Thomas and Stradner, Jürgen}}, booktitle = {{Austrian Robotics Workshop (Operational Programme Slovenia-Austria)}}, title = {{{Towards Morphological Flexibility: Modular Robotics and Bio-inspired Control}}}, year = {{2012}}, } @inproceedings{20175, author = {{Hamann, Heiko and Schmickl, Thomas and Stradner, Jürgen and Crailsheim, Karl and Zahadat, Payam and Adami, Christoph and Bryson, David M. and Ofria, Charles and Pennock, Robert T.}}, booktitle = {{Alife XIII}}, pages = {{597--598}}, publisher = {{MIT Press}}, title = {{{On-line, On-board Evolution of Reaction-Diffusion Control for Self-Adaptation}}}, year = {{2012}}, } @article{20176, author = {{Hamann, Heiko and Schmickl, Thomas and Crailsheim, Karl}}, issn = {{1387-3954}}, journal = {{Mathematical and Computer Modelling of Dynamical Systems}}, number = {{1}}, pages = {{39--50}}, title = {{{Self-organized pattern formation in a swarm system as a transient phenomenon of non-linear dynamics}}}, doi = {{10.1080/13873954.2011.601418}}, volume = {{18}}, year = {{2012}}, } @article{20177, abstract = {{One of the main challenges in automatic controller synthesis is to develop methods that can successfully be applied for complex tasks. The difficulty is increased even more in the case of settings with multiple interacting agents. We apply the artificial homeostatic hormone system (AHHS) approach, which is inspired by the signaling network of unicellular organisms, to control a system of several independently acting agents decentrally. The approach is designed for evaluation-minimal, artificial evolution in order to be applicable to complex modular robotics scenarios. The performance of AHHS controllers is compared with neuroevolution of augmenting topologies (NEAT) in the coupled inverted pendulums benchmark. AHHS controllers are found to be better for multimodular settings. We analyze the evolved controllers with regard to the usage of sensory inputs and the emerging oscillations, and we give a nonlinear dynamics interpretation. The generalization of evolved controllers to initial conditions far from the original conditions is investigated and found to be good. Similarly, the performance of controllers scales well even with module numbers different from the original domain the controller was evolved for. Two reference implementations of a similar controller approach are reported and shown to have shortcomings. We discuss the related work and conclude by summarizing the main contributions of our work.}}, author = {{Hamann, Heiko and Schmickl, Thomas and Crailsheim, Karl}}, issn = {{1064-5462}}, journal = {{Artificial Life}}, number = {{2}}, pages = {{165--198}}, title = {{{A Hormone-Based Controller for Evaluation-Minimal Evolution in Decentrally Controlled Systems}}}, doi = {{10.1162/artl_a_00058}}, volume = {{18}}, year = {{2012}}, } @article{20178, author = {{Hamann, Heiko and Schmickl, Thomas and Wörn, Heinz and Crailsheim, Karl}}, issn = {{0941-0643}}, journal = {{Neural Computing and Applications}}, number = {{2}}, pages = {{207--218}}, title = {{{Analysis of emergent symmetry breaking in collective decision making}}}, doi = {{10.1007/s00521-010-0368-6}}, volume = {{21}}, year = {{2012}}, } @inproceedings{20179, author = {{Hamann, Heiko and Engelbrecht, Andreas and Birattari, Mauro and Dorigo, Marco and Blum, Christian and Stuetzle, Thomas and Christensen, Anders Lyhne and Gross, Roderich}}, booktitle = {{Swarm Intelligence: 8th International Conference, ANTS 2012}}, isbn = {{9783642326493}}, issn = {{0302-9743}}, pages = {{168--179}}, publisher = {{Springer}}, title = {{{Towards Swarm Calculus: Universal Properties of Swarm Performance and Collective Decisions}}}, doi = {{10.1007/978-3-642-32650-9_15}}, volume = {{7461}}, year = {{2012}}, } @inproceedings{20180, abstract = {{The challenging scientific field of self-reconfiguring modular robotics (i.e., decentrally controlled 'super-robots' based on autonomous, interacting robot modules with variable morphologies) calls for novel paradigms of designing robot controllers. One option is the approach of evolutionary robotics. In this approach, the challenge is to achieve high evaluation numbers with the available resources which may even affect the feasibility of this approach. Simulations are usually applied at least in a preliminary stage of research to support controller design. However, even simulations are computationally expensive which gets even more burdensome once comprehensive studies and comparisons between different controller designs and approaches have to be done. Hence, a benchmark with low computational cost is needed that still contains the typical challenges of decentral control, is comparable, and easily manageable. We propose such a benchmark and report an empirical study of its characteristics including the transition from the single-robot setting to the multi-robot setting, typical local optima, and properties of adaptive walks through the fitness landscape.}}, author = {{Hamann, Heiko and Schmickl, Thomas and Crailsheim, Karl and Krasnogor, Natalio and Luca Lanzi, Pier}}, booktitle = {{Proceedings of the 13th Annual Genetic and Evolutionary Computation Conference, GECCO 2011}}, pages = {{195----202}}, title = {{{Coupled inverted pendulums: A benchmark for evolving decentral controllers in modular robotics}}}, doi = {{10.1145/2001576.2001604}}, year = {{2011}}, } @inproceedings{20181, abstract = {{The current definitions of emergence have no effects in the context of artificial life that could convincingly be called `constructive'. They are rather descriptive labels or tests. In order to get towards recipes of generating emergence we need to know systemic characteristics that help during the design phase of artificial life systems and worlds. In this paper, we develop and discuss five hypotheses that are not meant to be irrevocable but rather thought-provoking. We introduce two modeling approaches for Langton's ant to clarify these hypotheses. Then we discuss general properties of systems, such as (ir-)reversibility, dependence on initial states, computation, discreetness, and undecidable properties of system states.}}, author = {{Hamann, Heiko and Schmickl, Thomas and Crailsheim, Karl}}, booktitle = {{IEEE Symposium on Artificial Life (IEEE ALIFE 2011)}}, pages = {{62----69}}, title = {{{Thermodynamics of Emergence: Langton's Ant Meets Boltzmann}}}, doi = {{10.1109/ALIFE.2011.5954660}}, year = {{2011}}, } @inproceedings{20183, author = {{Hamann, Heiko and Schmickl, Thomas and Crailsheim, Karl}}, booktitle = {{10th European Conference on Artificial Life (ECAL'09)}}, isbn = {{9783642212826}}, issn = {{0302-9743}}, pages = {{442----449}}, title = {{{Evolving for Creativity: Maximizing Complexity in a Self-organized Multi-particle System}}}, doi = {{10.1007/978-3-642-21283-3_55}}, volume = {{5777}}, year = {{2011}}, } @inproceedings{20184, author = {{Hamann, Heiko and Schmickl, Thomas and Stradner, Jürgen and Crailsheim, Karl and Thenius, Rona and Fitch, Robert}}, booktitle = {{Robotic Organisms: Artificial Homeostatic Hormone System and Virtual Embryogenesis as Examples}}, title = {{{Robotic Organisms: Artificial Homeostatic Hormone System and Virtual Embryogenesis as Examples for Adaptive Reaction-Diffusion Controllers}}}, year = {{2011}}, } @inbook{20193, author = {{Hamann, Heiko and Schmickl, Thomas}}, booktitle = {{Bio-inspired Computing and Communication Networks}}, editor = {{Xiao, Yang}}, publisher = {{CRC Press}}, title = {{{{BEECLUST}: {A} Swarm Algorithm Derived from Honeybees}}}, year = {{2011}}, } @inproceedings{20194, author = {{Hamann, Heiko and Karsai, Istvan and Schmickl, Thomas and Stradner, Jürgen and Crailsheim, Karl and Thenius, Ronald and Kampis, Gyoergy and Szathmary, Eoers}}, booktitle = {{Advances in Artificial Life, 10th European Conference, ECAL 2009}}, pages = {{132----139}}, title = {{{Evolving a novel bio-inspired controller in reconfigurable robots}}}, year = {{2011}}, } @inproceedings{20195, author = {{Hamann, Heiko and Schmickl, Thomas and Crailsheim, Karl and Thenius, Ronald and Kengyel, Daniela}}, booktitle = {{10th European Conference on Artificial Life (ECAL'09)}}, title = {{{Embodiment of Honeybee's Thermotaxis in a Mobile Robot Swarm}}}, doi = {{10.1007/978-3-642-21314-4_9}}, year = {{2011}}, } @inbook{20196, author = {{Hamann, Heiko and Schmickl, Thomas and Crailsheim, Karl}}, booktitle = {{Advances in Artificial Life, ECAL 2011: Proceedings of the 11th European Conference on the Synthesis and Simulation of Living Systems}}, editor = {{Lenaerts, Tom and Giacobini, Mario and Bersini, Hugues and Bourgine, Paul and Dorigo, Marco and Doursat, Rene}}, pages = {{302----309}}, publisher = {{MIT Press}}, title = {{{Explaining Emergent Behavior in a Swarm System Based on an Inversion of the Fluctuation Theorem}}}, year = {{2011}}, } @inbook{20214, author = {{Hamann, Heiko and Schmickl, Thomas and Stradner, Jürgen and Crailsheim, Karl and Winkler, Lutz}}, booktitle = {{New Horizons in Evolutionary Robotics}}, publisher = {{Springer}}, title = {{{Major Feedback Loops Supporting Artificial Evolution in Multi-modular Robotics}}}, doi = {{10.1007/978-3-642-18272-3_13}}, year = {{2011}}, } @article{20215, author = {{Schmickl, Thomas and Hamann, Heiko and Crailsheim, Karl}}, issn = {{1387-3954}}, journal = {{Mathematical and Computer Modelling of Dynamical Systems}}, number = {{3}}, pages = {{221--242}}, title = {{{Modelling a hormone-inspired controller for individual- and multi-modular robotic systems}}}, doi = {{10.1080/13873954.2011.557862}}, volume = {{17}}, year = {{2011}}, }