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

Evolutionary biology for the 21st century

New theoretical and conceptual frameworks are required for evolutionary biology to capitalize on the wealth of data now becoming available from the study of genomes, phenotypes, and organisms - including humans - in their natural environments.Molecular and Cellular BiologyOrganismic and Evolutionary Biolog

A convergence acceleration operator for multiobjective optimisation

A novel multiobjective optimisation accelerator is introduced that uses direct manipulation in objective space together with neural network mappings from objective space to decision space. This operator is a portable component that can be hybridized with any multiobjective optimisation algorithm. The purpose of this Convergence Acceleration Operator (CAO) is to enhance the search capability and the speed of convergence of the host algorithm. The operator acts directly in objective space to suggest improvements to solutions obtained by a multiobjective evolutionary algorithm (MOEA). These suggested improved objective vectors are then mapped into decision variable space and tested. The CAO is incorporated with two leading MOEAs, the Non-Dominated Sorting Genetic Algorithm (NSGA-II) and the Strength Pareto Evolutionary Algorithm (SPEA2) and tested. Results show that the hybridized algorithms consistently improve the speed of convergence of the original algorithm whilst maintaining the desired distribution of solutions

The different origins of magnetic fields and activity in the Hertzsprung gap stars, OU Andromedae and 31 Comae

Context: When crossing the Hertzsprung gap, intermediate-mass stars develop a convective envelope. Fast rotators on the main sequence, or Ap star descendants, are expected to become magnetic active subgiants during this evolutionary phase. Aims: We compare the surface magnetic fields and activity indicators of two active, fast rotating red giants with similar masses and spectral class but diferent rotation rates - OU And (Prot=24.2 d) and 31 Com (Prot=6.8 d) - to address the question of the origin of their magnetism and high activity. Methods: Observations were carried out with the Narval spectropolarimeter in 2008 and 2013.We used the least squares deconvolution technique to extract Stokes V and I profiles to detect Zeeman signatures of the magnetic field of the stars. We provide Zeeman-Doppler imaging, activity indicator monitoring, and a precise estimation of stellar parameters. We use stellar evolutionary models to infer the evolutionary status and the initial rotation velocity on the main sequence. Results: The detected magnetic field of OU And is a strong one. Its longitudinal component Bl reaches 40 G and presents an about sinusoidal variation with reversal of the polarity. The magnetic topology of OU And is dominated by large scale elements and is mainly poloidal with an important dipole component, and a significant toroidal component. The detected magnetic field of 31 Com is weaker, with a magnetic map showing a more complex field geometry, and poloidal and toroidal components of equal contributions. The evolutionary models show that the progenitors of OU And and 31 Com must have been rotat Conclusions: OU And appears to be the probable descendant of a magnetic Ap star, and 31 Com the descendant of a relatively fast rotator on the main sequence.Comment: 16 pages, 12 figure