Embodied Evolution in Collective Robotics: A Review

This paper provides an overview of evolutionary robotics techniques applied to on-line distributed evolution for robot collectives -- namely, embodied evolution. It provides a definition of embodied evolution as well as a thorough description of the underlying concepts and mechanisms. The paper also presents a comprehensive summary of research published in the field since its inception (1999-2017), providing various perspectives to identify the major trends. In particular, we identify a shift from considering embodied evolution as a parallel search method within small robot collectives (fewer than 10 robots) to embodied evolution as an on-line distributed learning method for designing collective behaviours in swarm-like collectives. The paper concludes with a discussion of applications and open questions, providing a milestone for past and an inspiration for future research.Comment: 23 pages, 1 figure, 1 tabl

Evidence of coevolution in multi-objective evolutionary algorithms

This paper demonstrates that simple yet important characteristics of coevolution can occur in evolutionary algorithms when only a few conditions are met. We find that interaction-based fitness measurements such as fitness (linear) ranking allow for a form of coevolutionary dynamics that is observed when 1) changes are made in what solutions are able to interact during the ranking process and 2) evolution takes place in a multi-objective environment. This research contributes to the study of simulated evolution in a at least two ways. First, it establishes a broader relationship between coevolution and multi-objective optimization than has been previously considered in the literature. Second, it demonstrates that the preconditions for coevolutionary behavior are weaker than previously thought. In particular, our model indicates that direct cooperation or competition between species is not required for coevolution to take place. Moreover, our experiments provide evidence that environmental perturbations can drive coevolutionary processes; a conclusion that mirrors arguments put forth in dual phase evolution theory. In the discussion, we briefly consider how our results may shed light onto this and other recent theories of evolution

A localized decomposition evolutionary algorithm for imbalanced multi-objective optimization

Multi-objective evolutionary algorithms based on decomposition (MOEA/Ds) convert a multi-objective optimization problem (MOP) into a set of scalar subproblems, which are then optimized in a collaborative manner. However, when tackling imbalanced MOPs, the performance of most MOEA/Ds will evidently deteriorate, as a few solutions will replace most of the others in the evolutionary process, resulting in a significant loss of diversity. To address this issue, this paper suggests a localized decomposition evolutionary algorithm (LDEA) for imbalanced MOPs. A localized decomposition method is proposed to assign a local region for each subproblem, where the inside solutions are associated and the solution update is restricted inside (i.e., solutions are only replaced by offspring within the same local region). Once off-spring are generated within an originally empty region, the best one is reserved for this subproblem to extend diversity. Meanwhile, the subproblem with the largest number of associated solutions will be found and one of its associated solutions with the worst aggregated value will be removed. Moreover, to speed up convergence for each subproblem while balancing the population's diversity, LDEA only evolves the best-associated solution in each subproblem and correspondingly tailors two decomposition methods in the environmental selection. When compared to nine competitive MOEAs, LDEA has shown the advantages in tackling two benchmark sets of imbalanced MOPs, one benchmark set of balanced yet complicated MOPs, and one real-world MOP

Advances in Evolutionary Algorithms

With the recent trends towards massive data sets and significant computational power, combined with evolutionary algorithmic advances evolutionary computation is becoming much more relevant to practice. Aim of the book is to present recent improvements, innovative ideas and concepts in a part of a huge EA field

Optimizing the DFCN Broadcast Protocol with a Parallel Cooperative Strategy of Multi-Objective Evolutionary Algorithms

Proceeding of: 5th International Conference, EMO 2009, Nantes, France, April 7-10, 2009This work presents the application of a parallel coopera- tive optimization approach to the broadcast operation in mobile ad-hoc networks (manets). The optimization of the broadcast operation im- plies satisfying several objectives simultaneously, so a multi-objective approach has been designed. The optimization lies on searching the best configurations of the dfcn broadcast protocol for a given manet sce- nario. The cooperation of a team of multi-objective evolutionary al- gorithms has been performed with a novel optimization model. Such model is a hybrid parallel algorithm that combines a parallel island- based scheme with a hyperheuristic approach. Results achieved by the algorithms in different stages of the search process are analyzed in order to grant more computational resources to the most suitable algorithms. The obtained results for a manets scenario, representing a mall, demon- strate the validity of the new proposed approach.This work has been supported by the ec (feder) and the Spanish Ministry of Education and Science inside the ‘Plan Nacional de i+d+i’ (tin2005-08818-c04) and (tin2008-06491-c04-02). The work of Gara Miranda has been developed under grant fpu-ap2004-2290.Publicad