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Analysis of Evolved Sensory-Motor Controllers (1992)

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by D. Cliff , P. Husbands , I. Harvey
Citations:14 - 4 self
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BibTeX

@MISC{Cliff92analysisof,
    author = {D. Cliff and P. Husbands and I. Harvey},
    title = {Analysis of Evolved Sensory-Motor Controllers},
    year = {1992}
}

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Abstract

We present results from the concurrent evolution of visual sensing morphologies and sensory-motor controller-networks for visually guided robots. In this paper we analyse two (of many) networks which result from using incremental evolution with variable-length genotypes. The two networks come from separate populations, evolved using a common fitness function. The observable behaviours of the two robots are very similar, and close to the optimal behaviour. However, the underlying sensing morphologies and sensory-motor controllers are strikingly different. This is a case of convergent evolution at the behavioural level, coupled with divergent evolution at the morphological level. The action of the evolved networks is described. We discuss the process of analysing evolved artificial networks, a process which bears many similarities to analysing biological nervous systems in the field of neuroethology.

Citations

2441 A robust layered control system for a mobile robot - Brooks - 1986
279 An introduction to ray tracing - Glassner, Ed - 1989
221 Issues in evolutionary robotics - HARVEY, HUSBANDS, et al. - 1992
107 Artificial life and real robots - Brooks - 1992
103 Species adaptation genetic algorithms: The basis for a continuing SAGA - Harvey - 1992
81 What might cognition be, if not computation - Gelder - 1995
78 Achieving Artificial Intelligence through Building Insects - Brooks - 1986
62 Computational neuroethology: A provisional manifesto - Cliff - 1991
54 Evolving visually guided robots - Cliff, Husbands, et al. - 1993
32 Evolution versus design: Controlling autonomous robots, integrating perception, planning and action - Husbands, Harvey - 1992
28 Incremental evolution of neural network architectures for adaptive behavior - Harvey, I, et al. - 1992
24 A dynamical systems perspective on autonomous agents - Beer - 1992
23 Intelligence as Adaptive Behaviour: An Experiment in Computational Neuroethology - Beer - 1990
21 Taking eliminative materialism seriously: A methodology for autonomous systems research, Toward a Practice of Autonomous Systems - Smithers - 1992
19 Neural Networks for Visual Tracking in an Artificial Fly, in Towards a Practice of Autonomous Systems - Cliff - 1992
17 Real time visuomotor control : from flies to robots - Franceschini, Blanes - 1991
17 Non-Optimality’ via pre-adaptation in simple neural systems - Stork, Jackson, et al. - 1992
13 Artifi cial Life and Real Robots - Brooks - 1992
9 Achieving arti cial intelligence through building robots - Brooks - 1986
7 New models for motor control - Altman, Kien - 1989
7 Cli , \Computational neuroethology: a provisional manifesto", in From Animals to Animats - T - 1991
7 Real time visuomotor control: From ies to robots - Franceschini, Pichon, et al. - 1991
6 Neuroethology: Nerve cells and the natural behavior ofanimals - Camhi - 1984
4 Computational neuroethology: A provisional manifesto - Cli� - 1991
3 Intelligence asAdaptive Behaviour: An Experiment in Computational Neuroethology - Beer - 1990
2 Achieving arti�cial intelligence through building robots - Brooks - 1986
2 Neural networks for visual tracking in an arti cial y - Cli - 1992
1 Cli . Neural networks for visual tracking in an arti cial y - T - 1992
1 Evolution versus design: Controlling autonomous robots - Meyer, Wilson, et al. - 1993
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