Applications of Biological Cell Models in Robotics

In this paper I present some of the most representative biological models applied to robotics. In particular, this work represents a survey of some models inspired, or making use of concepts, by gene regulatory networks (GRNs): these networks describe the complex interactions that affect gene expression and, consequently, cell behaviour

Improving the adaptability of simulated evolutionary swarm robots in dynamically changing environments

One of the important challenges in the field of evolutionary robotics is the development of systems that can adapt to a changing environment. However, the ability to adapt to unknown and fluctuating environments is not straightforward. Here, we explore the adaptive potential of simulated swarm robots that contain a genomic encoding of a bio-inspired gene regulatory network (GRN). An artificial genome is combined with a flexible agent-based system, representing the activated part of the regulatory network that transduces environmental cues into phenotypic behaviour. Using an artificial life simulation framework that mimics a dynamically changing environment, we show that separating the static from the conditionally active part of the network contributes to a better adaptive behaviour. Furthermore, in contrast with most hitherto developed ANN-based systems that need to re-optimize their complete controller network from scratch each time they are subjected to novel conditions, our system uses its genome to store GRNs whose performance was optimized under a particular environmental condition for a sufficiently long time. When subjected to a new environment, the previous condition-specific GRN might become inactivated, but remains present. This ability to store 'good behaviour' and to disconnect it from the novel rewiring that is essential under a new condition allows faster re-adaptation if any of the previously observed environmental conditions is reencountered. As we show here, applying these evolutionary-based principles leads to accelerated and improved adaptive evolution in a non-stable environment

Evolving spiking neural networks for temporal pattern recognition in the presence of noise

Creative Commons - Attribution-NonCommercial-NoDerivs 3.0 United StatesNervous systems of biological organisms use temporal patterns of spikes to encode sensory input, but the mechanisms that underlie the recognition of such patterns are unclear. In the present work, we explore how networks of spiking neurons can be evolved to recognize temporal input patterns without being able to adjust signal conduction delays. We evolve the networks with GReaNs, an artificial life platform that encodes the topology of the network (and the weights of connections) in a fashion inspired by the encoding of gene regulatory networks in biological genomes. The number of computational nodes or connections is not limited in GReaNs, but here we limit the size of the networks to analyze the functioning of the networks and the effect of network size on the evolvability of robustness to noise. Our results show that even very small networks of spiking neurons can perform temporal pattern recognition in the presence of input noiseFinal Published versio

Evolutionary robustness of differentiation in genetic regulatory networks

We investigate the ability of artificial Genetic Regulatory Networks (GRNs) to evolve differentiation. The proposed GRN model supports non-linear interaction between regulating factors, thereby facilitating the realization of complex regulatory logics. As a proof of concept we evolve GRNs of this kind to follow different pathways, producing two kinds of periodic dynamics in response to minimal differences in external input. Furthermore we find that successive increases in environmental pressure for differentiation, allowing a lineage to adapt gradually, compared to an immediate requirement for a switch between behaviors, yields better results on average. Apart from better success there is also less variability in performance, the latter indicating an increase in evolutionary robustness

Evolving Gene Regulatory Networks with Mobile DNA Mechanisms

This paper uses a recently presented abstract, tuneable Boolean regulatory network model extended to consider aspects of mobile DNA, such as transposons. The significant role of mobile DNA in the evolution of natural systems is becoming increasingly clear. This paper shows how dynamically controlling network node connectivity and function via transposon-inspired mechanisms can be selected for in computational intelligence tasks to give improved performance. The designs of dynamical networks intended for implementation within the slime mould Physarum polycephalum and for the distributed control of a smart surface are considered.Comment: 7 pages, 8 figures. arXiv admin note: substantial text overlap with arXiv:1303.722

The Emergence of Canalization and Evolvability in an Open-Ended, Interactive Evolutionary System

Natural evolution has produced a tremendous diversity of functional organisms. Many believe an essential component of this process was the evolution of evolvability, whereby evolution speeds up its ability to innovate by generating a more adaptive pool of offspring. One hypothesized mechanism for evolvability is developmental canalization, wherein certain dimensions of variation become more likely to be traversed and others are prevented from being explored (e.g. offspring tend to have similarly sized legs, and mutations affect the length of both legs, not each leg individually). While ubiquitous in nature, canalization almost never evolves in computational simulations of evolution. Not only does that deprive us of in silico models in which to study the evolution of evolvability, but it also raises the question of which conditions give rise to this form of evolvability. Answering this question would shed light on why such evolvability emerged naturally and could accelerate engineering efforts to harness evolution to solve important engineering challenges. In this paper we reveal a unique system in which canalization did emerge in computational evolution. We document that genomes entrench certain dimensions of variation that were frequently explored during their evolutionary history. The genetic representation of these organisms also evolved to be highly modular and hierarchical, and we show that these organizational properties correlate with increased fitness. Interestingly, the type of computational evolutionary experiment that produced this evolvability was very different from traditional digital evolution in that there was no objective, suggesting that open-ended, divergent evolutionary processes may be necessary for the evolution of evolvability.Comment: SI can be found at: http://www.evolvingai.org/files/SI_0.zi

Emergent adaptive behaviour of GRN-controlled simulated robots in a changing environment

We developed a bio-inspired robot controller combining an artificial genome with an agent-based control system. The genome encodes a gene regulatory network (GRN) that is switched on by environmental cues and, following the rules of transcriptional regulation, provides output signals to actuators. Whereas the genome represents the full encoding of the transcriptional network, the agent-based system mimics the active regulatory network and signal transduction system also present in naturally occurring biological systems. Using such a design that separates the static from the conditionally active part of the gene regulatory network contributes to a better general adaptive behaviour. Here, we have explored the potential of our platform with respect to the evolution of adaptive behaviour, such as preying when food becomes scarce, in a complex and changing environment and show through simulations of swarm robots in an A-life environment that evolution of collective behaviour likely can be attributed to bio-inspired evolutionary processes acting at different levels, from the gene and the genome to the individual robot and robot population