22,192 research outputs found
Robust Multi-Cellular Developmental Design
This paper introduces a continuous model for Multi-cellular Developmental
Design. The cells are fixed on a 2D grid and exchange "chemicals" with their
neighbors during the growth process. The quantity of chemicals that a cell
produces, as well as the differentiation value of the cell in the phenotype,
are controlled by a Neural Network (the genotype) that takes as inputs the
chemicals produced by the neighboring cells at the previous time step. In the
proposed model, the number of iterations of the growth process is not
pre-determined, but emerges during evolution: only organisms for which the
growth process stabilizes give a phenotype (the stable state), others are
declared nonviable. The optimization of the controller is done using the NEAT
algorithm, that optimizes both the topology and the weights of the Neural
Networks. Though each cell only receives local information from its neighbors,
the experimental results of the proposed approach on the 'flags' problems (the
phenotype must match a given 2D pattern) are almost as good as those of a
direct regression approach using the same model with global information.
Moreover, the resulting multi-cellular organisms exhibit almost perfect
self-healing characteristics
Evolution of Neural Networks for Helicopter Control: Why Modularity Matters
The problem of the automatic development of controllers for vehicles for which the exact characteristics are not known is considered in the context of miniature helicopter flocking. A methodology is proposed in which neural network based controllers are evolved in a simulation using a dynamic model qualitatively similar to the physical helicopter. Several network architectures and evolutionary sequences are investigated, and two approaches are found that can evolve very competitive controllers. The division of the neural network into modules and of the task into incremental steps seems to be a precondition for success, and we analyse why this might be so
Chaotic exploration and learning of locomotion behaviours
We present a general and fully dynamic neural system, which exploits intrinsic chaotic dynamics, for the real-time goal-directed exploration and learning of the possible locomotion patterns of an articulated robot of an arbitrary morphology in an unknown environment. The controller is modeled as a network of neural oscillators that are initially coupled only through physical embodiment, and goal-directed exploration of coordinated motor patterns is achieved by chaotic search using adaptive bifurcation. The phase space of the indirectly coupled neural-body-environment system contains multiple transient or permanent self-organized dynamics, each of which is a candidate for a locomotion behavior. The adaptive bifurcation enables the system orbit to wander through various phase-coordinated states, using its intrinsic chaotic dynamics as a driving force, and stabilizes on to one of the states matching the given goal criteria. In order to improve the sustainability of useful transient patterns, sensory homeostasis has been introduced, which results in an increased diversity of motor outputs, thus achieving multiscale exploration. A rhythmic pattern discovered by this process is memorized and sustained by changing the wiring between initially disconnected oscillators using an adaptive synchronization method. Our results show that the novel neurorobotic system is able to create and learn multiple locomotion behaviors for a wide range of body configurations and physical environments and can readapt in realtime after sustaining damage
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