Iterative transfer learning for automatic collective motion tuning on multiple robot platforms.

This paper proposes an iterative transfer learning approach to achieve swarming collective motion in groups of mobile robots. By applying transfer learning, a deep learner capable of recognizing swarming collective motion can use its knowledge to tune stable collective motion behaviors across multiple robot platforms. The transfer learner requires only a small set of initial training data from each robot platform, and this data can be collected from random movements.

Motion behaviour recognition dataset collected from human perception of collective motion behaviour.

Collective motion behaviour such as the movement of swarming bees, flocking birds or schooling fish has inspired computer-based swarming systems. They are widely used in agent formation control, including aerial and ground vehicles, teams of rescue robots, and exploration of dangerous environments with groups of robots. Collective motion behaviour is easy to describe, but highly subjective to detect.

Adaptive neural tree exploiting expert nodes to classify high-dimensional data.

Classification of high dimensional data suffers from curse of dimensionality and over-fitting. Neural tree is a powerful method which combines a local feature selection and recursive partitioning to solve these problems, but it leads to high depth trees in classifying high dimensional data. On the other hand, if less depth trees are used, the classification accuracy decreases or over-fitting increases.