2,090 research outputs found
The Transfer of Evolved Artificial Immune System Behaviours between Small and Large Scale Robotic Platforms
This paper demonstrates that a set of behaviours evolved in simulation on a
miniature robot (epuck) can be transferred to a much larger scale platform (a
virtual Pioneer P3-DX) that also differs in shape, sensor type, sensor
configuration and programming interface. The chosen architecture uses a
reinforcement learning-assisted genetic algorithm to evolve the epuck
behaviours, which are encoded as a genetic sequence. This sequence is then used
by the Pioneers as part of an adaptive, idiotypic artificial immune system
(AIS) control architecture. Testing in three different simulated worlds shows
that the Pioneer can use these behaviours to navigate and solve object-tracking
tasks successfully, as long as its adaptive AIS mechanism is in place.Comment: 12 pages, 3 figures, 2 tables, 9th International Conference on
Artificial Evolution (EA 09)
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
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