Cellular Encoding for Interactive Evolutionary Robotics (1996)
| Venue: | University of Sussex, Falmer |
| Citations: | 34 - 0 self |
BibTeX
@INPROCEEDINGS{Gruau96cellularencoding,
author = {Frederic Gruau and Kameel Quatramaran and Centrum Voor and Wiskunde Informatica},
title = {Cellular Encoding for Interactive Evolutionary Robotics},
booktitle = {University of Sussex, Falmer},
year = {1996},
pages = {368--377},
publisher = {MIT Press}
}
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Abstract
This work reports experiments in interactive evolutionary robotics. The goal is to evolve an Artificial Neural Network (ANN) to control the locomotion of an 8-legged robot. The ANNs are encoded using a cellular developmental process called cellular encoding. In a previous work similar experiments have been carried on successfully on a simulated robot. They took however around 1,000,000 different ANN evaluations. In this work the fitness is determined on a real robot, and no more than a few hundreds evaluations can be performed. Various ideas were implemented so as to decrease the required number of evaluations from 1,000,000 to 200. First we used cell cloning and link typing. Second we did as many things as possible interactively: interactive problem decomposition, interactive syntactic constraints, interactive fitness. More precisely: 1- A modular design was chosen where a controller for an individual leg, with a precise neuronal interface was developed. 2- Syntactic constraints were ...
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