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

Evolving a Behavioral Repertoire for a Walking Robot

Numerous algorithms have been proposed to allow legged robots to learn to walk. However, the vast majority of these algorithms is devised to learn to walk in a straight line, which is not sufficient to accomplish any real-world mission. Here we introduce the Transferability-based Behavioral Repertoire Evolution algorithm (TBR-Evolution), a novel evolutionary algorithm that simultaneously discovers several hundreds of simple walking controllers, one for each possible direction. By taking advantage of solutions that are usually discarded by evolutionary processes, TBR-Evolution is substantially faster than independently evolving each controller. Our technique relies on two methods: (1) novelty search with local competition, which searches for both high-performing and diverse solutions, and (2) the transferability approach, which com-bines simulations and real tests to evolve controllers for a physical robot. We evaluate this new technique on a hexapod robot. Results show that with only a few dozen short experiments performed on the robot, the algorithm learns a repertoire of con-trollers that allows the robot to reach every point in its reachable space. Overall, TBR-Evolution opens a new kind of learning algorithm that simultaneously optimizes all the achievable behaviors of a robot.Comment: 33 pages; Evolutionary Computation Journal 201

Breathing new life into cognitive science

In this article I take an unusual starting point from which to argue for a unified cognitive science, namely a position defined by what is sometimes called the ‘life-mind continuity thesis’. Accordingly, rather than taking a widely accepted starting point for granted and using it in order to propose answers to some well defined questions, I must first establish that the idea of life-mind continuity can amount to a proper starting point at all. To begin with, I therefore assess the conceptual tools which are available to construct a theory of mind on this basis. By drawing on insights from a variety of disciplines, especially from a combination of existential phenomenology and organism-centered biology, I argue that mind can indeed be conceived as rooted in life, but only if we accept at the same time that social interaction plays a constitutive role for our cognitive capacities

Culture, Embodiment and Genes: Unravelling the Triple Helix

Much recent work stresses the role of embodiment and action in thought and reason, and celebrates the power of transmitted cultural and environmental structures to transform the problem-solving activity required of individual brains. By apparent contrast, much work in evolutionary psychology has stressed the selective fit of the biological brain to an ancestral environment of evolutionary adaptedness, with an attendant stress upon the limitations and cognitive biases that result. On the face of it, this suggests either a tension or, at least, a mismatch, with the symbiotic dyad of cultural evolution and embodied cognition. In what follows, we explore this mismatch by focusing on three key ideas: cognitive niche construction; cognitive modularity; and the existence (or otherwise) of an evolved universal human nature. An appreciation of the power and scope of the first, combined with consequently more nuanced visions of the latter two, allow us to begin to glimpse a much richer vision of the combined interactive potency of biological and cultural evolution for active, embodied agents

How to study the mind: An introduction to embodied cognition

Embodied Cognition (EC) is a comprehensive approach to, and framework for, the study of the mind. EC treats cognition as a coordinated set of tools evolved by organisms for coping with their environments. Each of the key terms in this characterization-tool, evolved, organism, coping, and environment-has a special significance for understanding the mind that is discussed in this article

Embedded Evolutionary Robotics: The (1+1)-Restart-Online Adaptation Algorithm

International audienceThis paper deals with online onboard behavior optimization for an autonomous mobile robot in the scope of the European FP7 Symbrion Project. The work presented here extends the (1+1)-online algorithm introduced in earlier publication. This algorithm is a variation of a famous Evolution Strategies adapted to autonomous robots. In this paper, we address a limitation of this algorithm regarding the ability to perform global search whenever a local optimum is reached. A new implementation of the algorithm, termed (1+1)-restart-online algorithm, is described and implemented within the Symbrion robotic Cortex M3 microcontroller. Results from the experiments show that the new algorithm is able to escape local optima and, as a consequence, converge faster and provides a richer set of relevant controllers

Factors of Emotion and Affect in Designing Interactive Virtual Characters

The Arts: 1st Place (The Ohio State University Edward F. Hayes Graduate Research Forum)This paper represents a review of literature concerning factors of affective interactive virtual character design. Affect and it's related concepts are defined followed by a detail of work being conducted in relevant areas such as design, animation, robotics. The intent of this review as to inform the author on overlapping concepts in fields related to affective design in order to apply these concepts interactive character development.A three-year embargo was granted for this item