Citation Context

...l system optimised using a parallel island-model genetic algorithm (GA) — an evolutionary strategy originally developed by Cohoon et al. [16], [17] and inspired by the theory of punctuated equilibria =-=[18]-=-. This theory postulates that speciation in the natural world arises from brief periods of rapid evolution punctuated by long periods of evolutionary stasis (see [19], [20]), of the sort that might oc...

Citation Context

...h adopted in this work is that of evolutionary robotics (ER), an emerging paradigm that draws upon Darwinian principles to exploit the important coupling between an embodied agent and its environment =-=[24]-=-, resulting in extremely powerful sensory-motor abilities [25]. To date, the complexity of neuro-controller solutions derived from the evolutionary method is lower than systems designed with expert kn...

Citation Context

...ce complex locomotive strategies [10]. Other strategies have looked at the use of morphologically-reconfigurable robots capable of adapting to the physical properties of their environment [11], [12], =-=[13]-=-. In contrast to the studies mentioned above, this work uses a 3D physics simulation of a single robot modelled on the MSL rover, deployed in a Marslike environment and implemented using the Open Dyna...

Citation Context

...m the control system of a robot comprises of an artificial neural network (ANN) whose synaptic weights are optimised offline by way of the Darwinian principle of selective reproduction with variation =-=[9]-=-. The rationale for choosing ANNs as the control system stems from their low computational overhead, generalisation abilities, and tolerance to input noise. Recent attempts in evolutionary robotics to...

Citation Context

...tingpoint value for increased terrain sensitivity, and a control system optimised using a parallel island-model genetic algorithm (GA) — an evolutionary strategy originally developed by Cohoon et al. =-=[16]-=-, [17] and inspired by the theory of punctuated equilibria [18]. This theory postulates that speciation in the natural world arises from brief periods of rapid evolution punctuated by long periods of ...

Citation Context

...ely to produce complex locomotive strategies [10]. Other strategies have looked at the use of morphologically-reconfigurable robots capable of adapting to the physical properties of their environment =-=[11]-=-, [12], [13]. In contrast to the studies mentioned above, this work uses a 3D physics simulation of a single robot modelled on the MSL rover, deployed in a Marslike environment and implemented using t...

Citation Context

...an emerging paradigm that draws upon Darwinian principles to exploit the important coupling between an embodied agent and its environment [24], resulting in extremely powerful sensory-motor abilities =-=[25]-=-. To date, the complexity of neuro-controller solutions derived from the evolutionary method is lower than systems designed with expert knowledge. To address this shortcoming, the island model is bein...

Citation Context

...int value for increased terrain sensitivity, and a control system optimised using a parallel island-model genetic algorithm (GA) — an evolutionary strategy originally developed by Cohoon et al. [16], =-=[17]-=- and inspired by the theory of punctuated equilibria [18]. This theory postulates that speciation in the natural world arises from brief periods of rapid evolution punctuated by long periods of evolut...

Citation Context

...e theory of punctuated equilibria [18]. This theory postulates that speciation in the natural world arises from brief periods of rapid evolution punctuated by long periods of evolutionary stasis (see =-=[19]-=-, [20]), of the sort that might occur in archipelagoes where the populations in separate islands diverge over time, undergoing rapid evolution when new solutions enter the population via inter-island ...

Citation Context

...to steer the robot [3], [4]. • Behaviour-based navigation: Here, obstacle avoidance behaviours emerge from a complex interaction of elementary sub-behaviours which are predefined by a programmer [5], =-=[6]-=-. • Grid-type traversability maps: The steering of the robot is calculated by mapping the immediate environment into a grid, which is then searched to find the most efficient route [7].B. Objectives ...

Citation Context

...programmer [5], [6]. • Grid-type traversability maps: The steering of the robot is calculated by mapping the immediate environment into a grid, which is then searched to find the most efficient route =-=[7]-=-.B. Objectives & rationale Given the above-listed methods currently employed in the navigation of unknown environments, the authors sought to develop a framework to investigate the potential for less...

Citation Context

... model of the environment is produced upon which several candidate arcs are generated. These arcs are then evaluated according to some utility function and the best one is selected to steer the robot =-=[3]-=-, [4]. • Behaviour-based navigation: Here, obstacle avoidance behaviours emerge from a complex interaction of elementary sub-behaviours which are predefined by a programmer [5], [6]. • Grid-type trave...

Citation Context

...ing alternative fault-tolerant sensing methods — objectives especially pertinent to the domain of space exploration, where computational resources and human intervention are both severely constrained =-=[8]-=-. As discussed, all of the rovers currently deployed depend upon 3D cameras for navigation — an inherent mission vulnerability. Should these cameras fail, it follows that the robots would be left inca...

Citation Context

...em of traversing rough terrains have focused largely on the idea of coordinated motion behaviour, where several interconnected mini-robots act collaboratively to produce complex locomotive strategies =-=[10]-=-. Other strategies have looked at the use of morphologically-reconfigurable robots capable of adapting to the physical properties of their environment [11], [12], [13]. In contrast to the studies ment...

Citation Context

...tion of neural controllers. The island model paradigm has also proven successful in the parallelisation of other global optimisation algorithms when applied to difficult and high dimensional problems =-=[22]-=-, [23]. It is the aim of the authors to extend this success of the island model in evolutionary robotics, and in particular to the domain of planetary rover navigation by integrating the Mars rover ph...

Citation Context

...f neural controllers. The island model paradigm has also proven successful in the parallelisation of other global optimisation algorithms when applied to difficult and high dimensional problems [22], =-=[23]-=-. It is the aim of the authors to extend this success of the island model in evolutionary robotics, and in particular to the domain of planetary rover navigation by integrating the Mars rover physics ...

Citation Context

... produce complex locomotive strategies [10]. Other strategies have looked at the use of morphologically-reconfigurable robots capable of adapting to the physical properties of their environment [11], =-=[12]-=-, [13]. In contrast to the studies mentioned above, this work uses a 3D physics simulation of a single robot modelled on the MSL rover, deployed in a Marslike environment and implemented using the Ope...

Citation Context

...ry of punctuated equilibria [18]. This theory postulates that speciation in the natural world arises from brief periods of rapid evolution punctuated by long periods of evolutionary stasis (see [19], =-=[20]-=-), of the sort that might occur in archipelagoes where the populations in separate islands diverge over time, undergoing rapid evolution when new solutions enter the population via inter-island migrat...

Citation Context

...l of the environment is produced upon which several candidate arcs are generated. These arcs are then evaluated according to some utility function and the best one is selected to steer the robot [3], =-=[4]-=-. • Behaviour-based navigation: Here, obstacle avoidance behaviours emerge from a complex interaction of elementary sub-behaviours which are predefined by a programmer [5], [6]. • Grid-type traversabi...

Citation Context

...nting obstacles that are of the same size as its wheels. This advanced suspension system is designed to operate at low speeds and consists of two pivoted joints connecting two bogies with two rockers =-=[27]-=-. These rockers are connected together via a differential join, meaning the left and right parts of the rocker-bogie system can move independently while keeping the rover body parallel to the ground. ...

Citation Context

...cted to steer the robot [3], [4]. • Behaviour-based navigation: Here, obstacle avoidance behaviours emerge from a complex interaction of elementary sub-behaviours which are predefined by a programmer =-=[5]-=-, [6]. • Grid-type traversability maps: The steering of the robot is calculated by mapping the immediate environment into a grid, which is then searched to find the most efficient route [7].B. Object...

Citation Context

...d intervals and exchanged to simulate the process of inter-island migration. This has the additional benefit of preventing any one population converging to a local optima, as shown by Ampatzis et al. =-=[21]-=- in a first application of the paradigm to the optimisation of neural controllers. The island model paradigm has also proven successful in the parallelisation of other global optimisation algorithms w...

Citation Context

...o minimal-complexity control architectures have been studied on this simulation platform: 1) a simple feed-forward neural controller using binary infrared sensors with evolvable activation thresholds =-=[14]-=-, and 2) a recurrent neural-network based active-vision system [15]. The study detailed herein looks to build upon the original work mentioned in point one above by adopting analogue infrared sensors,...

Citation Context

...s simulation platform: 1) a simple feed-forward neural controller using binary infrared sensors with evolvable activation thresholds [14], and 2) a recurrent neural-network based active-vision system =-=[15]-=-. The study detailed herein looks to build upon the original work mentioned in point one above by adopting analogue infrared sensors, returning a floatingpoint value for increased terrain sensitivity,...