the date of receipt and acceptance should be inserted later Abstract Weinvestigatetheapplicationofsimulation-basedgeneticprogramming to evolve controllers that perform high-level tasks on a service robot. As a case study, we synthesize a controller for a guide robot that manages the visitor traffic flow in an exhibition space in order to maximize the enjoyment of the visitors. We used geneticprogrammingin a low-fidelitysimulationto evolvea controllerfor this task, which was then transferred to a service robot. An experimental evaluation of the evolved controller in both simulation and on the actual service robot shows thatitperformswellcomparedtohand-codedheuristics,andperformscomparably to a human operator.
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