{"id":"https://openalex.org/W3009222397","doi":"https://doi.org/10.1109/tevc.2020.3036578","title":"QED: Using Quality-Environment-Diversity to Evolve Resilient Robot Swarms","display_name":"QED: Using Quality-Environment-Diversity to Evolve Resilient Robot Swarms","publication_year":2020,"publication_date":"2020-11-06","ids":{"openalex":"https://openalex.org/W3009222397","doi":"https://doi.org/10.1109/tevc.2020.3036578","mag":"3009222397"},"language":"en","primary_location":{"id":"doi:10.1109/tevc.2020.3036578","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tevc.2020.3036578","pdf_url":null,"source":{"id":"https://openalex.org/S93787993","display_name":"IEEE Transactions on Evolutionary Computation","issn_l":"1089-778X","issn":["1089-778X","1941-0026"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Evolutionary Computation","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://eprints.soton.ac.uk/445078/1/QED.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5011218628","display_name":"David M. Bossens","orcid":"https://orcid.org/0000-0003-1924-5756"},"institutions":[{"id":"https://openalex.org/I43439940","display_name":"University of Southampton","ror":"https://ror.org/01ryk1543","country_code":"GB","type":"education","lineage":["https://openalex.org/I43439940"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"David M. Bossens","raw_affiliation_strings":["School of Electronics and Computer Science, University of Southampton, Southampton, U.K","[School of Electronics and Computer Science, University of Southampton, Southampton, U.K.]"],"raw_orcid":"https://orcid.org/0000-0003-1924-5756","affiliations":[{"raw_affiliation_string":"School of Electronics and Computer Science, University of Southampton, Southampton, U.K","institution_ids":["https://openalex.org/I43439940"]},{"raw_affiliation_string":"[School of Electronics and Computer Science, University of Southampton, Southampton, U.K.]","institution_ids":["https://openalex.org/I43439940"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5046917969","display_name":"Danesh Tarapore","orcid":"https://orcid.org/0000-0002-3226-6861"},"institutions":[{"id":"https://openalex.org/I43439940","display_name":"University of Southampton","ror":"https://ror.org/01ryk1543","country_code":"GB","type":"education","lineage":["https://openalex.org/I43439940"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Danesh Tarapore","raw_affiliation_strings":["School of Electronics and Computer Science, University of Southampton, Southampton, U.K","[School of Electronics and Computer Science, University of Southampton, Southampton, U.K.]"],"raw_orcid":"https://orcid.org/0000-0002-3226-6861","affiliations":[{"raw_affiliation_string":"School of Electronics and Computer Science, University of Southampton, Southampton, U.K","institution_ids":["https://openalex.org/I43439940"]},{"raw_affiliation_string":"[School of Electronics and Computer Science, University of Southampton, Southampton, U.K.]","institution_ids":["https://openalex.org/I43439940"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I43439940"],"apc_list":{"value":2045,"currency":"USD","value_usd":2045},"apc_paid":null,"fwci":0.0,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":{"value":0.02343896,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"25","issue":"2","first_page":"346","last_page":"357"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9991000294685364,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9991000294685364,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12761","display_name":"Data Stream Mining Techniques","score":0.9934999942779541,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12072","display_name":"Machine Learning and Algorithms","score":0.986299991607666,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/swarm-behaviour","display_name":"Swarm behaviour","score":0.79923415184021},{"id":"https://openalex.org/keywords/swarm-robotics","display_name":"Swarm robotics","score":0.7746701240539551},{"id":"https://openalex.org/keywords/fault","display_name":"Fault (geology)","score":0.6562663912773132},{"id":"https://openalex.org/keywords/diversity","display_name":"Diversity (politics)","score":0.6377238035202026},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.6301896572113037},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.6235165596008301},{"id":"https://openalex.org/keywords/quality","display_name":"Quality (philosophy)","score":0.6154276132583618},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6064285635948181},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5794728994369507},{"id":"https://openalex.org/keywords/fault-tolerance","display_name":"Fault tolerance","score":0.5659161806106567},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5225112438201904},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.3594517707824707},{"id":"https://openalex.org/keywords/biology","display_name":"Biology","score":0.07316789031028748}],"concepts":[{"id":"https://openalex.org/C181335050","wikidata":"https://www.wikidata.org/wiki/Q14915018","display_name":"Swarm behaviour","level":2,"score":0.79923415184021},{"id":"https://openalex.org/C169337768","wikidata":"https://www.wikidata.org/wiki/Q2446723","display_name":"Swarm robotics","level":3,"score":0.7746701240539551},{"id":"https://openalex.org/C175551986","wikidata":"https://www.wikidata.org/wiki/Q47089","display_name":"Fault (geology)","level":2,"score":0.6562663912773132},{"id":"https://openalex.org/C2781316041","wikidata":"https://www.wikidata.org/wiki/Q1230584","display_name":"Diversity (politics)","level":2,"score":0.6377238035202026},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.6301896572113037},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.6235165596008301},{"id":"https://openalex.org/C2779530757","wikidata":"https://www.wikidata.org/wiki/Q1207505","display_name":"Quality (philosophy)","level":2,"score":0.6154276132583618},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6064285635948181},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5794728994369507},{"id":"https://openalex.org/C63540848","wikidata":"https://www.wikidata.org/wiki/Q3140932","display_name":"Fault tolerance","level":2,"score":0.5659161806106567},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5225112438201904},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.3594517707824707},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.07316789031028748},{"id":"https://openalex.org/C19165224","wikidata":"https://www.wikidata.org/wiki/Q23404","display_name":"Anthropology","level":1,"score":0.0},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C144024400","wikidata":"https://www.wikidata.org/wiki/Q21201","display_name":"Sociology","level":0,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/tevc.2020.3036578","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tevc.2020.3036578","pdf_url":null,"source":{"id":"https://openalex.org/S93787993","display_name":"IEEE Transactions on Evolutionary Computation","issn_l":"1089-778X","issn":["1089-778X","1941-0026"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Evolutionary Computation","raw_type":"journal-article"},{"id":"pmh:oai:eprints.soton.ac.uk:445078","is_oa":true,"landing_page_url":"http://doi.org/10.1109/TEVC.2020.3036578>).","pdf_url":"https://eprints.soton.ac.uk/445078/1/QED.pdf","source":{"id":"https://openalex.org/S4306401019","display_name":"ePrints Soton (University of Southampton)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I43439940","host_organization_name":"University of Southampton","host_organization_lineage":["https://openalex.org/I43439940"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"},{"id":"mag:3009222397","is_oa":true,"landing_page_url":"https://arxiv.org/pdf/2003.02341.pdf","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"arXiv (Cornell University)","raw_type":null},{"id":"doi:10.48550/arxiv.2003.02341","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2003.02341","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article-journal"}],"best_oa_location":{"id":"pmh:oai:eprints.soton.ac.uk:445078","is_oa":true,"landing_page_url":"http://doi.org/10.1109/TEVC.2020.3036578>).","pdf_url":"https://eprints.soton.ac.uk/445078/1/QED.pdf","source":{"id":"https://openalex.org/S4306401019","display_name":"ePrints Soton (University of Southampton)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I43439940","host_organization_name":"University of Southampton","host_organization_lineage":["https://openalex.org/I43439940"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"},"sustainable_development_goals":[{"score":0.7099999785423279,"id":"https://metadata.un.org/sdg/15","display_name":"Life in Land"}],"awards":[{"id":"https://openalex.org/G3758801431","display_name":null,"funder_award_id":"EP/R030073/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G6373853840","display_name":"Rapid fault-recovery strategies for resilient robot swarms","funder_award_id":"EP/R030073/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"}],"funders":[{"id":"https://openalex.org/F4320320277","display_name":"University of Southampton","ror":"https://ror.org/01ryk1543"},{"id":"https://openalex.org/F4320334627","display_name":"Engineering and Physical Sciences Research Council","ror":"https://ror.org/0439y7842"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3009222397.pdf","grobid_xml":"https://content.openalex.org/works/W3009222397.grobid-xml"},"referenced_works_count":54,"referenced_works":["https://openalex.org/W47258745","https://openalex.org/W201005404","https://openalex.org/W1060861436","https://openalex.org/W1738827650","https://openalex.org/W1965335252","https://openalex.org/W1968736168","https://openalex.org/W1969409474","https://openalex.org/W1974150877","https://openalex.org/W1977090665","https://openalex.org/W1978161072","https://openalex.org/W1988030247","https://openalex.org/W1990284337","https://openalex.org/W2001685400","https://openalex.org/W2017150251","https://openalex.org/W2019782985","https://openalex.org/W2026233734","https://openalex.org/W2028319081","https://openalex.org/W2044223889","https://openalex.org/W2055483905","https://openalex.org/W2076118331","https://openalex.org/W2077391629","https://openalex.org/W2099746672","https://openalex.org/W2103844206","https://openalex.org/W2108548117","https://openalex.org/W2111935653","https://openalex.org/W2111952942","https://openalex.org/W2116386744","https://openalex.org/W2118331730","https://openalex.org/W2126554879","https://openalex.org/W2149469814","https://openalex.org/W2192203593","https://openalex.org/W2270784458","https://openalex.org/W2342068300","https://openalex.org/W2345072837","https://openalex.org/W2462548332","https://openalex.org/W2507269679","https://openalex.org/W2548358835","https://openalex.org/W2606289342","https://openalex.org/W2606327391","https://openalex.org/W2725489675","https://openalex.org/W2739858255","https://openalex.org/W2745560723","https://openalex.org/W2787690100","https://openalex.org/W2791006300","https://openalex.org/W2797210984","https://openalex.org/W2798384337","https://openalex.org/W2884476204","https://openalex.org/W2894677730","https://openalex.org/W2895751190","https://openalex.org/W2959731414","https://openalex.org/W2962687375","https://openalex.org/W2966722937","https://openalex.org/W2978360819","https://openalex.org/W3179498353"],"related_works":["https://openalex.org/W3083379106","https://openalex.org/W2182166351","https://openalex.org/W3023750538","https://openalex.org/W2894600200","https://openalex.org/W2803571798","https://openalex.org/W2104993896","https://openalex.org/W2905276483","https://openalex.org/W2411491336","https://openalex.org/W2945176370","https://openalex.org/W2805131108","https://openalex.org/W1798193704","https://openalex.org/W3156135312","https://openalex.org/W2794706234","https://openalex.org/W2062932390","https://openalex.org/W3135677008","https://openalex.org/W2614339750","https://openalex.org/W2785652786","https://openalex.org/W1630625572","https://openalex.org/W2806951673","https://openalex.org/W2784871935"],"abstract_inverted_index":{"In":[0],"quality-diversity":[1],"algorithms,":[2],"the":[3,14,17,28,53,57,95,103,108,113,138,141,161,164,177,180,183,186,198,221],"behavioral":[4,21,126,208,227],"diversity":[5,22,201,222],"metric":[6],"is":[7,23,41,144,194],"a":[8,37,71,76,170],"key":[9],"design":[10],"choice":[11],"that":[12,68,98,111,237],"determines":[13],"quality":[15,139],"of":[16,32,84,107,110,140,156,163,179,185,191,202,223,240],"evolved":[18,142,167,192,230],"archives.":[19],"Although":[20],"traditionally":[24],"obtained":[25],"by":[26,46,51,146,196,231],"describing":[27],"observed":[29],"resulting":[30,215],"behavior":[31],"robot":[33,89,131,234],"controllers":[34,58,236],"evaluated":[35],"in":[36,55,97,105,128,176],"single":[38],"environment,":[39,99,112],"it":[40],"often":[42],"more":[43],"easily":[44],"induced":[45],"introducing":[47],"environmental":[48,80],"diversity,":[49,209,228],"i.e.,":[50],"manipulating":[52],"environments":[54,224],"which":[56],"are":[59,238],"evaluated.":[60],"This":[61],"article":[62],"proposes":[63],"quality-environment-diversity":[64],"(QED),":[65],"an":[66],"algorithm":[67],"repeatedly":[69],"generates":[70],"random":[72],"environment":[73,114],"according":[74],"to":[75,120,149,160,173,220],"probability":[77],"distribution":[78],"over":[79],"features":[81,109],"(e.g.,":[82],"number":[83],"obstacles,":[85],"arena":[86],"size":[87],"and":[88,91,100,124,210],"sensor":[90],"actuator":[92],"characteristics),":[93],"evaluates":[94],"controller":[96,104],"then":[101],"describes":[102],"terms":[106],"descriptor.":[115],"Our":[116],"study":[117],"compares":[118],"QED":[119,232],"three":[121],"baseline":[122],"task-specific":[123],"generic":[125],"descriptors,":[127],"5":[129],"different":[130],"swarm":[132,235],"benchmark":[133],"tasks.":[134],"For":[135],"each":[136],"task,":[137],"archives":[143,168,193,229],"assessed":[145],"their":[147],"capability":[148],"provide":[150,233],"high-performing":[151],"compensatory":[152,203],"behaviors":[153],"following":[154],"injection":[155],"250":[157],"unique":[158],"faults":[159,181],"robots":[162],"swarm.":[165,187],"The":[166,214],"achieve":[169],"median":[171],"2-":[172],"3-fold":[174],"reduction":[175],"impact":[178],"on":[182],"performance":[184],"A":[188],"qualitative":[189],"analysis":[190],"done":[195],"visualizing":[197],"relation":[199],"between":[200],"behaviors,":[204],"here":[205],"called":[206],"useful":[207,226],"fault":[211],"recovery":[212],"metrics.":[213],"signatures":[216],"indicate":[217],"that,":[218],"due":[219],"inducing":[225],"capable":[239],"recovering":[241],"from":[242],"high-impact":[243],"faults.":[244]},"counts_by_year":[],"updated_date":"2026-08-28T12:50:07.497085","created_date":"2025-10-10T00:00:00"}
