This paper: 1) reviews different combinations between ANN's and evolutionary algorithms (EA's), including using EA's to evolve ANN connection weights, architectures, learning rules, and input features; 2) discusses different search operators which have been used in various EA's; and 3) points out possible future research directions. It is shown, through a considerably large literature review, that combinations between ANN's and EA's can lead to significantly better intelligent systems than relying on ANN's or EA's alone

Evolutionary computation is becoming common in the solution of difficult, realworld problems in industry, medicine, and defense. This paper reviews some of the practical advantages to using evolutionary algorithms as compared with classic methods of optimization or artificial intelligence. Specific advantages include the flexibility of the procedures, as well as the ability to self-adapt the search for optimum solutions on the fly. As desktop computers increase in speed, the application of evolutionary algorithms will become routine. 1 Introduction Darwinian evolution is intrinsically a robust search and optimization mechanism. Evolved biota demonstrate optimized complex behavior at every level: the cell, the organ, the individual, and the population. The problems that biological species have solved are typified by chaos, chance, temporality, and nonlinear interactivities. These are also characteristics of problems that have proved to be especially intractable to classic methods of o...

In this paper we propose and justify a methodology for the development of the control systems, or `cognitive architectures', of autonomous mobile robots. We argue that the design by hand of such control systems becomes prohibitively difficult as complexity increases. We discuss an alternative approach, involving artificial evolution, where the basic building blocks for cognitive architectures are adaptive noise-tolerant dynamical neural networks, rather than programs. These networks may be recurrent, and should operate in real time. Evolution should be incremental, using an extended and modified version of genetic algorithms. We nally propose that, sooner rather than later, visual processing will be required in order for robots to engage in non-trivial navigation behaviours. Time constraints suggest that initial architecture evaluations should be largely done in simulation. The pitfalls of simulations compared with reality are discussed, together with the importance of incorporating noise. To support our claims and proposals, we present results from some preliminary experiments where robots which roam office-like environments are evolved.

Abstract | In this paper we describe the evolution of a discrete-time recurrent neural network to control a real mobile robot. In all our experiments the evolutionary procedure is carried out entirely on the physical robot without human intervention. We showthat the autonomous development of a set of behaviors for locating a battery charger and periodically returning to it can be achieved by lifting constraints in the design of the robot/environment interactions that were employed in a preliminary experiment. The emergent homing behavior is based on the autonomous development ofaninternal neural topographic map (which is not pre-designed) that allows the robot to choose the appropriate trajectory as function of location and remaining energy.

It is appealing to consider hybrids of neural-network learning algorithms with evolutionary search procedures, simply because Nature has so successfully done so. In fact, computational models of learning and evolution offer theoretical biology new tools for addressing questions about Nature that have dogged that field since Darwin [Belew, 1990]. The concern of this paper, however, is strictly artificial: Can hybrids of connectionist learning algorithms and genetic algorithms produce more efficient and effective algorithms than either technique applied in isolation? The paper begins with a survey of recent work (by us and others) that combines Holland's Genetic Algorithm (GA) with connectionist techniques and delineates some of the basic design problems these hybrids share. This analysis suggests the dangers of overly literal representations of the network on the genome (e.g., encoding each weight explicitly). A preliminary set of experiments that use the GA to find unusual but successf...

Research on potential interactions between connectionist learning systems, i.e., artificial neural networks (ANNs), and evolutionary search procedures, like genetic algorithms (GAs), has attracted a lot of attention recently. Evolutionary ANNs (EANNs) can be considered as the combination of ANNs and evolutionary search procedures. This paper first distinguishes among three kinds of evolution in EANNs, i.e., the evolution of connection weights, of architectures and of learning rules. Then it reviews each kind of evolution in detail and analyses critical issues related to different evolutions. The review shows that although a lot of work has been done on the evolution of connection weights and of architectures, few attempts have been made to understand the evolution of learning rules. Interactions among different evolutions are seldom mentioned in current research. However, the evolution of learning rules and its interactions with other kinds of evolution play a vital role in EANNs. As t...

The conventional understanding of genetic algorithms depends upon analysis by schemata and the notion of intrinsic parallelism. For this reason, only k-ary string representations have had any formal basis and non-standard representations and operators have been regarded largely as heuristics, rather than principled algorithms. This paper extends the analysis to general representations through identification of schemata as equivalence classes induced by implicit equivalence relations over the space of chromosomes.

Evolutionary computation uses computational models of evolutionary processes as key elements in the design and implementation of computer-based problem solving systems. In this paper we provide an overview of evolutionary computation, and describe several evolutionary algorithms that are currently of interest. Important similarities and differences are noted, which lead to a discussion of important issues that need to be resolved, and items for future research.

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We are interested in the synthesis of autonomous agents using evolutionary techniques. Most work in this area utilizes a direct mapping from genotypic space to phenotypic space. In order to address some of the limitations of this approach, we present a simplified yet biologically defensible model of the developmental process. The design issues that arise when formulating this model at the molecular, cellular and organismal level are discussed, and for each of these issues we describe how they were resolved in our implementation. We present and analyze some of the morphologies that can be explored using this model, specifically one that has agent-like properties. In addition, we demonstrate that this developmental model can be evolved. 1.