... the last 5 years. We explain and justify our distinctive approaches to (artificial) evolution, and to the nature of robot control systems that are evolved. Results are presented from research with evolved controllers for autonomous mobile robots; simulated robots, coevolved animats, real robots with software controllers, and a real robot with a controller directly evolved in hardware.

A grammar tree is used to encode a cellular developmental process that can generate whole families of Boolean neural networks for computing parity and symmetry. The development process resembles biological cell division. A genetic algorithm is used to find a grammar tree that yields both architecture and weights specifying a particular neural network for solving specific Boolean functions. The current study particularly focuses on the addition of learning to the development process and the evolution of grammar trees. Three ways of adding learning to development process are explored. Two of these exploit the Baldwin effect by changing the fitness landscape without using Lamarckian evolution. The third strategy is Lamarckian in nature. Results for these three modes of combining learning with genetic search are compared against genetic search without learning. Our results suggest that merely using learning to change the fitness landscape can be as effective as Lamarckian strate...

s: Jan. 1992 -- Dec. 1994 ffl CTI: Current Technology Index Jan./Feb. 1993 -- Jan./Feb. 1994 ffl DAI: Dissertation Abstracts International: Vol. 53 No. 1 -- Vol. 55 No. 4 (1994) ffl EEA: Electrical & Electronics Abstracts: Jan. 1991 -- Dec. 1994 ffl P: Index to Scientific & Technical Proceedings: Jan. 1986 -- Feb. 1995 (except Nov. 1994) ffl EI A: The Engineering Index Annual: 1987 -- 1992 ffl EI M: The Engineering Index Monthly: Jan. 1993 -- Dec. 1994 The following GA researchers have already kindly supplied their complete autobibliographies and/or proofread references to their papers: Dan Adler, Patrick Argos, Jarmo T. Alander, James E. Baker, Wolfgang Banzhaf, Ralf Bruns, I. L. Bukatova, Thomas Back, Yuval Davidor, Dipankar Dasgupta, Marco Dorigo, Bogdan Filipic, Terence C. Fogarty, David B. Fogel, Toshio Fukuda, Hugo de Garis, Robert C. Glen, David E. Goldberg, Martina Gorges-Schleuter, Jeffrey Horn, Aristides T. Hatjimihail, Mark J. Jakiela, Richard S. Judson, Akihiko Konaga...

This paper describes an automated process for designing electrical circuits in which "What You Want Is What You Get " ("WYWIWYG " – pronounced "wow-eee-wig"). The design process uses genetic programming to produce both the topology of the desired circuit and the sizing (numerical values) for all the components of a circuit. Genetic programming successfully evolves both the topology and the sizing for an asymmetric bandpass filter that was described as being difficult-to-design in a leading electrical engineering journal. This evolved circuit is another instance in which a genetically evolved solution to a non-trivial problem is competitive with human performance. 1.

This paper provides a high-level review of current and recent work in the use of genetic algorithm based techniques to develop sensorimotor control systems for autonomous agents. It focuses on network-based controllers and genetic encoding issues associated with them. The paper closes with a discussion of the possibility of using arti cial evolutionary techniques to help tackle more specifically scientific questions about natural sensorimotor systems.

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Abstract – It would be desirable if computers could solve problems without the need for a human to write the detailed programmatic steps. That is, it would be desirable to have a domain-independent automatic programming technique in which "What You Want Is What You Get " ("WYWIWYG " – pronounced "woweee-wig"). Genetic programming is such a technique. This paper surveys three recent examples of problems (from the fields of cellular automata and molecular biology) in which genetic programming evolved a computer program that produced results that were slightly better than human performance for the same problem. This paper then discusses the problem of electronic circuit synthesis in greater detail. It shows how genetic programming can evolve both the topology of a desired electrical circuit and the sizing (numerical values) for each component in a crossover (woofer and tweeter) filter. Genetic programming has also evolved the design for a lowpass filter, the design of an amplifier, and the design for an asymmetric bandpass filter that was described as being difficult-to-design in an article in a leading electrical engineering journal.

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Creating artificial life forms through evolutionary robotics faces a "chicken and egg" problem: learning to control a complex body is dominated by problems specific to its sensors and effectors, while building a body that is controllable assumes the pre-existence of a brain. The idea of co-evolution of bodies and brains is becoming popular, but little work has been done in evolution of physical structure because of the lack of a general framework for doing it. Evolution of creatures in simulation has usually resulted in virtual entities which are not buildable, while embodied evolution in actual robotics is constrained by the slow pace of real time. The work we present takes a step in the problem of body evolution by applying evolutionary techniques to the design of structures assembled out of elementary components which stick together. Evolution takes place in a simulator which computes forces and stresses and predicts stability of 3dimensional brick structures. The final printout of ...

The intuitive expectation is that the scheme used to encode the neural network in the chromosome should be critical to the success of evolving neural networks to solve difficult problems. In 1990 Kitano [1] published an encoding scheme based on contextfree parallel matrix rewriting. The method allowed compact, finite, chromosomes to grow neural networks of potentially infinite size. Results were presented that demonstrated superior evolutionary properties of the matrix rewriting method compared to a simple direct encoding. In this paper, we present results that contradict those findings, and demonstrate that a genetic algorithm (GA) using a direct encoding can find good individuals just as efficiently as a GA using matrix rewriting. I. Introduction The intuitive expectation is that the scheme used to encode the neural network in the chromosome should be critical to the success of evolving neural networks to solve difficult problems. In 1990 Kitano [1] published an encoding scheme base...