Human vs automatic design in swarm robotics

1) The document discusses different approaches to designing controllers for robots, including hand-designed controllers versus automated controller design. Hand-designed controllers allow for visual progress monitoring but take a long time and can introduce bias, while automated design is faster but can result in complex controllers. 2) It introduces AutoMoDe, an approach to automated modular controller design where controllers are made up of predefined modules and conditions, generating human-readable controllers through optimization. AutoMoDe was tested on a phototaxis robot swarm task. 3) The document compares different design methods: unconstrained human design, constrained human design, neural networks, AutoMoDe with a basic optimization algorithm, and AutoMoDe with an improved iterative optimization.