{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,1,23]],"date-time":"2026-01-23T12:15:04Z","timestamp":1769170504882,"version":"3.49.0"},"reference-count":42,"publisher":"Wiley","issue":"6","license":[{"start":{"date-parts":[[2019,8,23]],"date-time":"2019-08-23T00:00:00Z","timestamp":1566518400000},"content-version":"vor","delay-in-days":0,"URL":"http:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":["advanced.onlinelibrary.wiley.com"],"crossmark-restriction":true},"short-container-title":["Advanced Intelligent Systems"],"published-print":{"date-parts":[[2019,10]]},"abstract":"<jats:sec><jats:label\/><jats:p>Designing the individual robot rules that give rise to desired emergent swarm behaviors is difficult. The common method of running evolutionary algorithms off\u2010line to automatically discover controllers in simulation suffers from two disadvantages: the generation of controllers is not situated in the swarm and so cannot be performed in the wild, and the evolved controllers are often opaque and hard to understand. A swarm of robots with considerable on\u2010board processing power is used to move the evolutionary process into the swarm, providing a potential route to continuously generating swarm behaviors adapted to the environments and tasks at hand. By making the evolved controllers human\u2010understandable using behavior trees, the controllers can be queried, explained, and even improved by a human user. A swarm system capable of evolving and executing fit controllers entirely onboard physical robots in less than 15\u2009min is demonstrated. One of the evolved controllers is then analyzed to explain its functionality. With the insights gained, a significant performance improvement in the evolved controller is engineered.<\/jats:p><\/jats:sec>","DOI":"10.1002\/aisy.201900031","type":"journal-article","created":{"date-parts":[[2019,7,18]],"date-time":"2019-07-18T08:24:02Z","timestamp":1563438242000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":33,"title":["Onboard Evolution of Understandable Swarm Behaviors"],"prefix":"10.1002","volume":"1","author":[{"given":"Simon","family":"Jones","sequence":"first","affiliation":[{"name":"Bristol Robotics Laboratory University of Bristol  Senate House, Tyndall Ave Bristol BS8 1TH UK"}]},{"given":"Alan F.","family":"Winfield","sequence":"additional","affiliation":[{"name":"Bristol Robotics Laboratory University of the West of England  Coldharbour Ln, Stoke Gifford Bristol BS16 1QY UK"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-0341-7306","authenticated-orcid":false,"given":"Sabine","family":"Hauert","sequence":"additional","affiliation":[{"name":"Bristol Robotics Laboratory University of Bristol  Senate House, Tyndall Ave Bristol BS8 1TH UK"}]},{"given":"Matthew","family":"Studley","sequence":"additional","affiliation":[{"name":"Bristol Robotics Laboratory University of the West of England  Coldharbour Ln, Stoke Gifford Bristol BS16 1QY UK"}]}],"member":"311","published-online":{"date-parts":[[2019,8,23]]},"reference":[{"key":"e_1_2_8_2_1","doi-asserted-by":"crossref","first-page":"10","DOI":"10.1007\/978-3-540-30552-1_2","volume-title":"Swarm Robotics","author":"\u015eahin, E.","year":"2005"},{"key":"e_1_2_8_3_1","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1007\/s11721-012-0075-2","volume":"7","author":"Brambilla M.","year":"2013","journal-title":"Swarm Intell."},{"key":"e_1_2_8_4_1","doi-asserted-by":"crossref","first-page":"203","DOI":"10.7551\/mitpress\/8493.003.0010","volume-title":"The Horizons of Evolutionary Robotics","author":"Hauert S.","year":"2014"},{"key":"e_1_2_8_5_1","doi-asserted-by":"crossref","first-page":"11","DOI":"10.3389\/frobt.2018.00011","volume":"5","author":"Jones S.","year":"2018","journal-title":"Front. Robot. AI"},{"key":"e_1_2_8_6_1","doi-asserted-by":"crossref","first-page":"25","DOI":"10.1145\/37402.37406","volume":"21","author":"Reynolds C. W.","year":"1987","journal-title":"ACM SIGGRAPH Comput. Graph."},{"key":"e_1_2_8_7_1","doi-asserted-by":"crossref","first-page":"865","DOI":"10.1007\/978-3-540-39432-7_93","volume":"1","author":"Trianni V.","year":"2003","journal-title":"Adv. Artif. Life"},{"key":"e_1_2_8_8_1","doi-asserted-by":"crossref","unstructured":"S.Hauert J.-C.Zufferey D.Floreano inProc. IEEE Congress on Evolutionary Computation IEEE Piscataway NJ2009 p.55.","DOI":"10.1109\/CEC.2009.4982930"},{"key":"e_1_2_8_9_1","doi-asserted-by":"crossref","first-page":"183","DOI":"10.1162\/artl_a_00031","volume":"17","author":"Trianni V.","year":"2011","journal-title":"Artif. Life"},{"key":"e_1_2_8_10_1","doi-asserted-by":"crossref","first-page":"795","DOI":"10.1126\/science.1254295","volume":"345","author":"Rubenstein M.","year":"2014","journal-title":"Science"},{"key":"e_1_2_8_11_1","doi-asserted-by":"crossref","first-page":"47","DOI":"10.3389\/frobt.2018.00047","volume":"5","author":"Pitonakova L.","year":"2018","journal-title":"Front. Robot. AI"},{"key":"e_1_2_8_12_1","doi-asserted-by":"crossref","first-page":"255","DOI":"10.1162\/106454603322392460","volume":"9","author":"Baldassarre G.","year":"2003","journal-title":"Artif. Life"},{"key":"e_1_2_8_13_1","doi-asserted-by":"crossref","first-page":"125","DOI":"10.1007\/s11721-015-0107-9","volume":"9","author":"Francesca G.","year":"2015","journal-title":"Swarm Intell."},{"key":"e_1_2_8_14_1","doi-asserted-by":"crossref","first-page":"213","DOI":"10.1007\/978-3-319-31153-1_15","volume-title":"Applications of Evolutionary Computation","author":"Duarte M.","year":"2016"},{"key":"e_1_2_8_15_1","doi-asserted-by":"crossref","unstructured":"S.Jones M.Studley S.Hauert A.Winfield inProc. 13th Int. Symp. on Distributed Autonomous Robotic Systems(Eds:R.Gross A.Kolling S.Berman E.Frazzoli A.Martinoli F.Matsuno M.Gauci) Springer Cham2018 p.487.","DOI":"10.1007\/978-3-319-73008-0_34"},{"key":"e_1_2_8_16_1","doi-asserted-by":"crossref","first-page":"29","DOI":"10.3389\/frobt.2016.00029","volume":"3","author":"Francesca G.","year":"2016","journal-title":"Front. Robot. AI"},{"key":"e_1_2_8_17_1","unstructured":"P.Ogren inProc. AIAA Guidance Navigation and Control Conf. American Institute of Aeronautics and Astronautics Reston VA\u20092012 p.4458."},{"key":"e_1_2_8_18_1","volume-title":"Genetic Programming: On the Programming of Computers by Means of Natural Selection","author":"Koza J. R.","year":"1992"},{"key":"e_1_2_8_19_1","doi-asserted-by":"crossref","unstructured":"M.Colledanchise P.Ogren inProc. IEEE\/RSJ Int. Conf. on Intelligent Robots and Systems(Ed:W.Burgard) IEEE Piscataway NJ2014 p.1482.","DOI":"10.1109\/IROS.2014.6942752"},{"key":"e_1_2_8_20_1","doi-asserted-by":"crossref","unstructured":"A.Marzinotto M.Colledanchise C.Smith P.Ogren inProc. IEEE Int. Conf. on Robotics and Automation(Ed:W.Burgard) IEEE Piscataway NJ2014 p.5420.","DOI":"10.1109\/ICRA.2014.6907656"},{"key":"e_1_2_8_21_1","doi-asserted-by":"crossref","first-page":"23","DOI":"10.1162\/ARTL_a_00192","volume":"22","author":"Scheper K. Y.","year":"2016","journal-title":"Artif. Life"},{"key":"e_1_2_8_22_1","doi-asserted-by":"crossref","first-page":"378","DOI":"10.1098\/rspb.2010.1407","volume":"278","author":"Mitri S.","year":"2010","journal-title":"Proc. R. Soc. B Biol. Sci."},{"key":"e_1_2_8_23_1","doi-asserted-by":"crossref","first-page":"648","DOI":"10.1109\/TEVC.2008.2011741","volume":"13","author":"Waibel M.","year":"2009","journal-title":"IEEE Trans. Evol. Comput."},{"key":"e_1_2_8_24_1","unstructured":"N.Jakobi P.Husbands I.Harvey inProc. European Conf. on Artificial Life(Eds:F.Mor\u00e1n A.Moreno J. J.Merelo P.Chac\u00f3n) Springer Berlin1995 p.704."},{"key":"e_1_2_8_25_1","doi-asserted-by":"crossref","first-page":"122","DOI":"10.1109\/TEVC.2012.2185849","volume":"17","author":"Koos S.","year":"2013","journal-title":"IEEE Tran. Evol. Comput"},{"key":"e_1_2_8_26_1","doi-asserted-by":"crossref","unstructured":"J.-B.Mouret K.Chatzilygeroudis inProc. Genetic and Evolutionary Computation Conf.(Ed:G.Ochoa) ACM New York NY2017 p.1121.","DOI":"10.1145\/3067695.3082052"},{"key":"e_1_2_8_27_1","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1016\/S0921-8890(02)00170-7","volume":"39","author":"Watson R. A.","year":"2002","journal-title":"Robot. Auton. Syst."},{"key":"e_1_2_8_28_1","unstructured":"Y. U.Takaya T.Arita presented at8th Int. Symp. on Artificial Life and Robotics Beppu Japan January2003."},{"key":"e_1_2_8_29_1","doi-asserted-by":"crossref","first-page":"101","DOI":"10.1080\/13873954.2011.601425","volume":"18","author":"Bredeche N.","year":"2012","journal-title":"Math. Comput. Model. Dyn. Syst."},{"key":"e_1_2_8_30_1","doi-asserted-by":"crossref","first-page":"4","DOI":"10.3389\/frobt.2015.00004","volume":"2","author":"Doncieux S.","year":"2015","journal-title":"Front. Robot. AI"},{"key":"e_1_2_8_31_1","doi-asserted-by":"crossref","first-page":"12","DOI":"10.3389\/frobt.2018.00012","volume":"5","author":"Bredeche N.","year":"2018","journal-title":"Front. Robot. AI"},{"key":"e_1_2_8_32_1","unstructured":"F.Mondada M.Bonani X.Raemy J.Pugh C.Cianci A.Klaptocz S.Magnenat J.-C.Zufferey D.Floreano A.Martinoli inProc. 9th Conf. on Autonomous Robot Systems and Competitions (Eds:P. J. S.Gon\u00e7alves P.Torres C. M. O.Alves) Vol. 1 IPCB Portugal2009 p.59."},{"key":"e_1_2_8_33_1","first-page":"141","volume":"10","author":"Cant\u00fa-Paz E.","year":"1998","journal-title":"Calculateurs paralleles, reseaux et systems repartis"},{"key":"e_1_2_8_34_1","first-page":"33","volume":"7","author":"Whitley D.","year":"1999","journal-title":"CIT. J. Comp. Inform. Technol."},{"key":"e_1_2_8_35_1","doi-asserted-by":"crossref","first-page":"95","DOI":"10.1007\/s12065-014-0112-8","volume":"7","author":"O'Dowd P. J.","year":"2014","journal-title":"Evol. Intel."},{"key":"e_1_2_8_36_1","doi-asserted-by":"crossref","first-page":"60","DOI":"10.1016\/j.micpro.2010.08.002","volume":"35","author":"Liu W.","year":"2011","journal-title":"Microprocess. Microsy."},{"key":"e_1_2_8_37_1","doi-asserted-by":"crossref","first-page":"3682","DOI":"10.1007\/978-0-387-30440-3_217","volume-title":"Encyclopedia of Complexity and Systems Science","author":"Winfield A. F.","year":"2009"},{"key":"e_1_2_8_38_1","doi-asserted-by":"crossref","first-page":"89","DOI":"10.1007\/s11721-014-0092-4","volume":"8","author":"Francesca G.","year":"2014","journal-title":"Swarm Intel."},{"key":"e_1_2_8_39_1","doi-asserted-by":"crossref","unstructured":"D.Whitley S.Rana R. B.Heckendorn inProc. AISB International Workshop on Evolutionary Computing Springer Berlin 1997 p.109.","DOI":"10.1007\/BFb0027170"},{"key":"e_1_2_8_40_1","unstructured":"R.Poli W. B.Langdon N. F.McPhee J. R.Koza A Field Guide to Genetic Programming.http:\/\/lulu.com;http:\/\/www.gp-field-guide.org.uk(accessed: December 2008)."},{"key":"e_1_2_8_41_1","doi-asserted-by":"crossref","first-page":"59","DOI":"10.1007\/BF00337288","volume":"43","author":"Kohonen T.","year":"1982","journal-title":"Biol. Cybern."},{"key":"e_1_2_8_42_1","doi-asserted-by":"crossref","unstructured":"F.Mondada M.Bonani A.Guignard S.Magnenat C.Studer D.Floreano inProc. European Conf. on Artificial Life(Eds:M. S.Capcarr\u00e8re A. A.Freitas P. J.Bentley C. G.Johnson J.Timmis) Springer Berlin2005 p.282.","DOI":"10.1007\/11553090_29"},{"key":"e_1_2_8_43_1","doi-asserted-by":"crossref","unstructured":"H.Hamann inProc. Int. Conf. on Swarm Intelligence(Eds:Y.Tan Y.Shi Z.Ji) Springer Berlin2012 p.168.","DOI":"10.1007\/978-3-642-32650-9_15"}],"container-title":["Advanced Intelligent Systems"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/api.wiley.com\/onlinelibrary\/tdm\/v1\/articles\/10.1002%2Faisy.201900031","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/pdf\/10.1002\/aisy.201900031","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/full-xml\/10.1002\/aisy.201900031","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/advanced.onlinelibrary.wiley.com\/doi\/pdf\/10.1002\/aisy.201900031","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,7]],"date-time":"2025-10-07T16:53:39Z","timestamp":1759856019000},"score":1,"resource":{"primary":{"URL":"https:\/\/advanced.onlinelibrary.wiley.com\/doi\/10.1002\/aisy.201900031"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2019,8,23]]},"references-count":42,"journal-issue":{"issue":"6","published-print":{"date-parts":[[2019,10]]}},"alternative-id":["10.1002\/aisy.201900031"],"URL":"https:\/\/doi.org\/10.1002\/aisy.201900031","archive":["Portico"],"relation":{},"ISSN":["2640-4567","2640-4567"],"issn-type":[{"value":"2640-4567","type":"print"},{"value":"2640-4567","type":"electronic"}],"subject":[],"published":{"date-parts":[[2019,8,23]]},"assertion":[{"value":"2019-05-27","order":0,"name":"received","label":"Received","group":{"name":"publication_history","label":"Publication History"}},{"value":"2019-08-23","order":3,"name":"published","label":"Published","group":{"name":"publication_history","label":"Publication History"}}],"article-number":"1900031"}}