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Strengths and Synergies of Evolved and Designed Controllers: A Study within Collective Robotics

By Gianluca Baldassarre and Stefano Nolfi


This paper analyses the strengths and weaknesses of self-organising approaches, such as evolutionary robotics, and direct design approaches, such as behaviour-based controllers, for the production of autonomous robots ’ controllers, and shows how the two approaches can be usefully combined. In particular, the paper proposes a method for encoding evolved neural-network based behaviours into motor schemabased controllers and then shows how these controllers can be modified and combined to produce robots capable of solving new tasks. The method has been validated in the context of a collective robotics scenario in which a group of physically assembled simulated autonomous robots are requested to produce different forms of coordinated behaviours (e.g., coordinated motion, walled-arena exiting, and light pursuing)

Topics: fields
Year: 2010
OAI identifier: oai:CiteSeerX.psu:
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