SEAMS 2019
Sat 25 - Sun 26 May 2019 Montreal, QC, Canada
co-located with ICSE 2019
Sat 25 May 2019 14:50 - 15:10 at Duluth - Autonomy Chair(s): Danny Weyns

We investigate the integration of evolutionary algorithms and novelty search in order to improve the performance and resilience of autonomous systems. We have developed two tools for this purpose: Evo-ROS and Enki. Evo-ROS combines evolutionary search with physics-based simulations of autonomous systems whose software infrastructure is based on the Robot Operating System (ROS). Enki uses novelty search to discover operational settings that lead to the most diverse behavior in the target system. Combining these tools yields an automated approach to explore the operational landscape of the target system, identify regions of poor performance, and evolve system parameters that better respond to adverse situations. In this paper, we present results of a case study of the throttle controller on AutoRally, a 1:5-scale autonomous vehicle designed by researchers at Georgia Tech for the study of aggressive autonomous driving. Preliminary experiments demonstrate the ability of the proposed methods to identify and characterize input speed signals that cause the existing controller to perform poorly. The ability to identify these troublesome signals enables development of a control system capable of handling a wider range of conditions by switching among controller modes that are optimized for different conditions.

Sat 25 May

seams-2019-papers
14:00 - 15:30: SEAMS 2019 - Autonomy at Duluth
Chair(s): Danny WeynsKU Leuven
seams-2019-papers14:00 - 14:25
Talk
Pooyan JamshidiUniversity of South Carolina, Javier CamaraUniversity of York, Bradley SchmerlCarnegie Mellon University, USA, Christian KästnerCarnegie Mellon University, David GarlanCarnegie Mellon University
seams-2019-papers14:25 - 14:50
Talk
Eoin GruaVrije Universiteit Amsterdam, Ivano MalavoltaVrije Universiteit Amsterdam, Patricia LagoVrije Universiteit Amsterdam
Pre-print Media Attached
seams-2019-papers14:50 - 15:10
Talk
Michael LangfordMichigan State University, Glen SimonMichigan State University, Philip McKinleyMichigan State University, Betty H.C. ChengMichigan State University
seams-2019-papers15:10 - 15:30
Talk
Amel BennaceurThe Open University, Carlo GhezziPolitecnico di Milano, Kenji TeiWaseda University / National Institute of Informatics, Japan, Timo KehrerHumboldt-Universtität zu Berlin, Danny WeynsKU Leuven, Radu CalinescuUniversity of York, UK, Schahram DustdarTU Wien, Zhenjiang HuNational Institute of Informatics, Shinichi HonidenWaseda University / National Institute of Informatics, Japan, Fuyuki IshikawaNational Institute of Informatics, Zhi JinPeking University, Jeffrey Kramer, Marin LitoiuYork University, Canada, Michele LoretiUniversity of Camerino, Gabriel A. MorenoCarnegie Mellon University, USA, Hausi MüllerUniversity of Victoria, Computer Science, Faculty of Engineering, Canada, Laura NenziUniversity of Trieste, Bashar NuseibehThe Open University (UK) & Lero (Ireland), Liliana PasqualeUniversity College Dublin & Lero, Ireland, Wolfgang ReisigHumboldt-Universität zu Berlin, Germany, Heinz SchmidtRMIT Australia, Christos TsigkanosTechnische Universität Wien, Haiyan ZhaoPeking University