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Flora Robotica: Societies of Symbiotic Robot-Plant Bio-Hybrids as Social Architectural Artifacts

Deliverables

Report on the final algorithms and plant-affection of bio-hybrid organism

Report on the main control algorithms and control paradigms that will be applied to the robotic implementation of our bio-hybrid systems later in the project. It includes a discussion of challenges and limitations of the chosen approaches.

Representations and design rules

Deliverables for task 3.1 will include a design modelling and simulation space for generating and evaluating digital representations of flora robotica examples. The design modelling space will have the capacity to link to real-world data as a means of informing simulations (physical symbiont to the representational) and specifying actions (representational to the physical symbiont). In addition, a specification of architectural design rules will be established and encoded within the system and also described through other representational means such as physical portfolio and design files.

flora robotica as social garden

Deliverables for task 3.3 are an architectural space, or spaces, comprised of physical flora robotica systems, together with a publicly accessible website. Within the context of the website, deliverables will be the provision of access to information (current and archived) related to the physical sites, and a virtual evolutionary space that promotes the exploration of simulated flora robotica systems.

Evaluation of the robotic symbiont

A report where we evaluate the features of the robotic symbiont and to which degree it supports the ability to control and sustain the plant symbiont.

Evaluation of mechatronics prototype of the robotic symbiont including supporting software

A report on the mechanical properties and implemented features of the robotic symbiont.

Plant-robot interaction mechanisms and distributed actuation system

We report on the sensors developed for sensing the state of the plant and also on the developed distributed actuation system to actuate the robotic symbiont and support the plant symbiont.

Progress on basic models of bio-hybrid organisms

Report of the initial efforts and model building choices to approach algorithm design questions in the context of our bio-hybrid organisms.

Architectural propositions

Construction logics and architectural propositions will be demonstrated through digital simulations and physical models at appropriate scales (including 1:1 where possible). For construction logics, the deliverables will focus on demonstrating the design principles of primary junctions and symbiont system conditions (ground connection, structural nodes, infrastructure integration, biological/technical junctions, etc). For the architectural propositions, the deliverables will focus on simulations exploring 'growth career' as a process, and models demonstrating key states within this growth career.

Final report on the development of a bio-hybrid Superorganism

Final report of the control methods and the investigated approaches to guide plant growth in order to create a bio-hybrid system of the two cooperating agent groups: plants and robots.

Report on the integration of algorithms on flora robotica and first tests

Report on the first steps of implementing the chosen control algorithms on an early prototype of the actual flora robotica system in hardware; including first tests involving robots and plants.

Investigation of current mechatronics systems as a basis for the robotic symbiont

A survey of mechatronics systems suitable for use as the hardware basis for the robotic symbiont.

Data management plan (open research data pilot)

This is the data management plan describing the details of what kind of data the project will generate, how it will be exploited and made accessible for verification and reuse, and how it will be curated and preserved.

Searching for OpenAIRE data...

Publications

Flora Robotica - Mixed Societies of Symbiotic Robot-Plant Bio-Hybrids

Author(s): 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, Przemyslaw Wojtaszek
Published in: 2015 IEEE Symposium Series on Computational Intelligence, 2015, Page(s) 1102-1109
DOI: 10.1109/SSCI.2015.158

Evolution and Morphogenesis of Simulated Modular Robots: A Comparison Between a Direct and Generative Encoding

Author(s): Frank Veenstra, Andres Faina, Sebastian Risi, Kasper Stoy
Published in: EvoApplications 2017: Applications of Evolutionary Computation, 2017, Page(s) 870-885
DOI: 10.1007/978-3-319-55849-3_56

Design Tools and Workflows for Braided Structures

Author(s): Petras Vestartas, Mary Katherine Heinrich, Mateusz Zwierzycki, David Andres Leon, Ashkan Cheheltan, Riccardo La Magna, Phil Ayres
Published in: Humanizing Digital Reality, Design Modelling Symposium Paris 2017, 2017, Page(s) 671-681
DOI: 10.1007/978-981-10-6611-5_55

Development of morphology based on resource distribution: Finding the shortest path in a maze by vascular morphogenesis controller

Author(s): Payam Zahadat, Daniel Nicolas Hofstadler, Thomas Schmickl
Published in: Proceedings of the 14th European Conference on Artificial Life ECAL 2017, 2017, Page(s) 428-429
DOI: 10.7551/ecal_a_071

Vascular morphogenesis controller - a generative model for developing morphology of artificial structures

Author(s): Payam Zahadat, Daniel Nicolas Hofstadler, Thomas Schmickl
Published in: Proceedings of the Genetic and Evolutionary Computation Conference on - GECCO '17, 2017, Page(s) 163-170
DOI: 10.1145/3071178.3071247

A Multiscale Model of Morphological Complexity in Cities

Author(s): Mary Katherine Heinrich, Phil Ayres, Yaneer Bar-Yam
Published in: ShoCK! - Sharing Computational Knowledge!, 2017

Evolution of Controllers for Robot-Plant Bio-Hybdrids: A Simple Case Study Using a Model of Plant Growth and Motion

Author(s): Mostafa Wahby, Mohammad Divband Soorati, Sebastian von Mammen, Heiko Hamann
Published in: Proc. of the 25th Workshop on Computational Intelligence, 2015

Evolving Collective Behaviors With Diverse But Predictable Sensor States

Author(s): Payam Zahadat, Heiko Hamann, Thomas Schmickl
Published in: 07/20/2015-07/24/2015, Issue Proceedings of the European Conference on Artificial Life, 2015, Page(s) 174-174
DOI: 10.7551/978-0-262-33027-5-ch036

The Effect of Fitness Function Design on Performance in Evolutionary Robotics - The Influence of a Priori Knowledge

Author(s): Mohammad Divband Soorati, Heiko Hamann
Published in: Proceedings of the 2015 on Genetic and Evolutionary Computation Conference - GECCO '15, 2015, Page(s) 153-160
DOI: 10.1145/2739480.2754676

Evolving Diverse Collective Behaviors Independent of Swarm Density

Author(s): Payam Zahadat, Heiko Hamann, Thomas Schmickl
Published in: Proceedings of the Companion Publication of the 2015 on Genetic and Evolutionary Computation Conference - GECCO Companion '15, 2015, Page(s) 1245-1246
DOI: 10.1145/2739482.2768492

Revisiting BEECLUST: Aggregation of Swarm Robots with Adaptiveness to Different Light Settings

Author(s): Mostafa Wahby, Alexander Weinhold, Heiko Hamann
Published in: Proceedings of the 9th EAI International Conference on Bio-inspired Information and Communications Technologies (formerly BIONETICS), 2016
DOI: 10.4108/eai.3-12-2015.2262877

An Evolutionary Robotics Approach to the Control of Plant Growth and Motion: Modeling Plants and Crossing the Reality Gap

Author(s): Mostafa Wahby, Daniel Nicolas Hofstadler, Mary Katherine Heinrich, Payam Zahadat, Heiko Hamann
Published in: 10th IEEE International Conference on Self-Adaptive and Self-Organizing Systems (SASO 2016), 2016

For Time-Continuous Optimisation: Replacing Automation with Interactive Visualisation in Multi-Objective Behavioural Design

Author(s): Heinrich, Mary Katherine and Phil Ayres
Published in: Living Systems and Micro-Utopias: Towards Continuous Designing, Proceedings of the 21st International Conference on Computer-Aided Architectural Design Research in Asia (CAADRIA 2016), 2016, Page(s) 373-382

Using the Phase Space to Design Complexity - Design Methodology for Distributed Control of Architectural Robotic Elements

Author(s): Heinrich, Mary Katherine and Ayres, Phil
Published in: Proceedings of the 34th eCAADe Conference - Volume 1, 2016, Page(s) 413-422

Robot Self-Assembly as Adaptive Growth Process: Collective Selection of Seed Position and Self-Organizing Tree-Structures

Author(s): Mohammad Divband Soorati and Heiko Hamann
Published in: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2016

Self-Organized Construction with Continuous Building Material: Higher Flexibility based on Braided Structures

Author(s): Mary Katherine Heinrich, Mostafa Wahby, Mohammad Divband Soorati, Daniel Nicolas Hofstadler, Payam Zahadat, Phil Ayres, Kasper Støy, Heiko Hamann
Published in: 1st International Workshop on Self-Organising Construction (SOCO), SASO 2016 and ICCAC 2016, 2016

Vascular Morphogenesis Controller: A Distributed Controller for Growing Artificial Structures

Author(s): Payam Zahadat, Daniel Nicolas Hofstadler, Thomas Schmickl
Published in: 10th IEEE International Conference on Self-Adaptive and Self-Organizing Systems (SASO 2016), 2016

Generating Artificial Plant Morphologies for Function and Aesthetics through Evolving L-Systems

Author(s): Frank Veenstra, Andrs Faa, Kasper Stoy, Sebastian Risi
Published in: Proceedings of the Artificial Life Conference 2016, 2016, Page(s) 692-699
DOI: 10.7551/978-0-262-33936-0-ch110

Intrinsic Mortality Governs Evolvability

Author(s): Frank Veenstra, Pablo González de Prado Salas, Josh Bongard, Kasper Stoy, Sebastian Risi
Published in: The 2018 Conference on Artificial Life, 2018, Page(s) 242-249
DOI: 10.1162/isal_a_00050

A robot to shape your natural plant - the machine learning approach to model and control bio-hybrid systems

Author(s): Mostafa Wahby, Mary Katherine Heinrich, Daniel Nicolas Hofstadler, Payam Zahadat, Sebastian Risi, Phil Ayres, Thomas Schmickl, Heiko Hamann
Published in: Proceedings of the Genetic and Evolutionary Computation Conference on - GECCO '18, 2018, Page(s) 165-172
DOI: 10.1145/3205455.3205516

Locomotion as a Result of Displacement of Resources

Author(s): Payam Zahadat, Thomas Schmickl
Published in: The 2018 Conference on Artificial Life, 2018, Page(s) 232-233
DOI: 10.1162/isal_a_00048

Evolution of fin undulation on a physical knifefish-inspired soft robot

Author(s): Frank Veenstra, Jonas Jørgensen, Sebastian Risi
Published in: Proceedings of the Genetic and Evolutionary Computation Conference on - GECCO '18, 2018, Page(s) 157-164
DOI: 10.1145/3205455.3205583

Robust and Adaptive Robot Self-Assembly Based on Vascular Morphogenesis

Author(s): Mohammad Divband Soorati, Javad Ghofrani, Payam Zahadat, Heiko Hamann
Published in: 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2018, Page(s) 4282-4287
DOI: 10.1109/iros.2018.8594093

Robot gardens

Author(s): Hamann, Heiko; von Mammen, Sebastian; Heider, Michael
Published in: Proceedings of the 22nd ACM Conference on Virtual Reality Software and Technology - VRST '16, Issue 7, 2016
DOI: 10.1145/2993369.2993400

Hybrid Societies: Challenges and Perspectives in the Design of Collective Behavior in Self-organizing Systems

Author(s): Heiko Hamann, Yara Khaluf, Jean Botev, Mohammad Divband Soorati, Eliseo Ferrante, Oliver Kosak, Jean-Marc Montanier, Sanaz Mostaghim, Richard Redpath, Jon Timmis, Frank Veenstra, Mostafa Wahby, Aleš Zamuda
Published in: Frontiers in Robotics and AI, Issue 3, 2016, ISSN 2296-9144
DOI: 10.3389/frobt.2016.00014

Towards swarm level optimisation: the role of different movement patterns in swarm systems

Author(s): Daniela Kengyel, Payam Zahadat, Franz Wotawa, Thomas Schmickl
Published in: International Journal of Parallel, Emergent and Distributed Systems, 2017, Page(s) 1-19, ISSN 1744-5760
DOI: 10.1080/17445760.2017.1404600

Plant Science View on Biohybrid Development

Author(s): Tomasz Skrzypczak, Rafał Krela, Wojciech Kwiatkowski, Shraddha Wadurkar, Aleksandra Smoczyńska, Przemysław Wojtaszek
Published in: Frontiers in Bioengineering and Biotechnology, Issue 5, 2017, ISSN 2296-4185
DOI: 10.3389/fbioe.2017.00046

Evolved Control of Natural Plants

Author(s): Daniel Nicolas Hofstadler, Mostafa Wahby, Mary Katherine Heinrich, Heiko Hamann, Payam Zahadat, Phil Ayres, Thomas Schmickl
Published in: ACM Transactions on Autonomous and Adaptive Systems, Issue 12/3, 2017, Page(s) 1-24, ISSN 1556-4665
DOI: 10.1145/3124643

Toward Energy Autonomy in Heterogeneous Modular Plant-Inspired Robots through Artificial Evolution

Author(s): Frank Veenstra, Chloe Metayer, Sebastian Risi, Kasper Stoy
Published in: Frontiers in Robotics and AI, Issue 4, 2017, ISSN 2296-9144
DOI: 10.3389/frobt.2017.00043

Characterization of the γ-secretase subunit interactome in Arabidopsis thaliana

Author(s): Tomasz Skrzypczak, Rafal Krela, Shraddha Wadurkar, Kris Gevaert, Eveline Van De Slijke, Geert De Jaeger, Krzysztof Leśniewicz, Przemysław Wojtaszek
Published in: Acta Physiologiae Plantarum, Issue 41/2, 2019, ISSN 0137-5881
DOI: 10.1007/s11738-019-2811-3

Autonomously shaping natural climbing plants: a bio-hybrid approach

Author(s): Mostafa Wahby, Mary Katherine Heinrich, Daniel Nicolas Hofstadler, Ewald Neufeld, Igor Kuksin, Payam Zahadat, Thomas Schmickl, Phil Ayres, Heiko Hamann
Published in: Royal Society Open Science, Issue 5/10, 2018, Page(s) 180296, ISSN 2054-5703
DOI: 10.1098/rsos.180296

Collective decision with 100 Kilobots: speed versus accuracy in binary discrimination problems

Author(s): Ferrante, Eliseo,; Valentini, Gabriele; Hamann, Heiko; Dorigo, Marco
Published in: https://hal.archives-ouvertes.fr/hal-01403730, Issue 30, 2016, Page(s) 553-580, ISSN 1387-2532
DOI: 10.1007/s10458-015-9323-3

Flora Robotica: societies of symbiotic robot-plant bio-hybrids as social architectural artifacts

Author(s): Tomasz Skrzypczak, Przemysław Wojtaszek, Daniel Hofstadler, Payam Zahadat, Thomas Schmickl, Sebastian Risi, Andres Faiña, Frank Veenstra, Kasper Stoy, Igor Kuksin, Yury Nepomnyashchiy, Olga Kernbach, Serge Kernbach, Mary Katherine Heinrich, David Andres Leon, Phil Ayres, Mostafa Wahby, Mohammad Soorati, Heiko Hamann
Published in: Plant Biology Europe EPSO/FESPB 2016 Congress in Prague, Issue 26-30 June 2016, 2016

Morphogenesis as a Collective Decision of Agents Competing for Limited Resource: A Plants Approach

Author(s): Payam Zahadat, Daniel Nicolas Hofstadler, Thomas Schmickl
Published in: Swarm Intelligence - 11th International Conference, ANTS 2018, Rome, Italy, October 29–31, 2018, Proceedings, Issue 11172, 2018, Page(s) 84-96
DOI: 10.1007/978-3-030-00533-7_7

Adaptive Path Formation in Self-Assembling Robot Swarms by Tree-Like Vascular Morphogenesis

Author(s): Mohammad Divband Soorati, Payam Zahadat, Javad Ghofrani, Heiko Hamann
Published in: Generalized Models and Non-classical Approaches in Complex Materials 2, Issue 90, 2018, Page(s) 299-311
DOI: 10.1007/978-3-030-05816-6_21

Beyond the Basket Case: a principled approach to the modelling of Kagome weave patterns for the fabrication of interlaced lattice structures using straight strips

Author(s): Ayres, Phil ; Martin, Alison Grace ; Zwierzycki, Mateusz
Published in: Advances in Architectural Geometry 2018, 2018