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

Limited Evaluation Cooperative Co-evolutionary Differential Evolution for Large-scale Neuroevolution

Many real-world control and classification tasks involve a large number of features. When artificial neural networks (ANNs) are used for modeling these tasks, the network architectures tend to be large. Neuroevolution is an effective approach for optimizing ANNs; however, there are two bottlenecks that make their application challenging in case of high-dimensional networks using direct encoding. First, classic evolutionary algorithms tend not to scale well for searching large parameter spaces; second, the network evaluation over a large number of training instances is in general time-consuming. In this work, we propose an approach called the Limited Evaluation Cooperative Co-evolutionary Differential Evolution algorithm (LECCDE) to optimize high-dimensional ANNs. The proposed method aims to optimize the pre-synaptic weights of each post-synaptic neuron in different subpopulations using a Cooperative Co-evolutionary Differential Evolution algorithm, and employs a limited evaluation scheme where fitness evaluation is performed on a relatively small number of training instances based on fitness inheritance. We test LECCDE on three datasets with various sizes, and our results show that cooperative co-evolution significantly improves the test error comparing to standard Differential Evolution, while the limited evaluation scheme facilitates a significant reduction in computing time

The role of concurrency in an evolutionary view of programming abstractions

In this paper we examine how concurrency has been embodied in mainstream programming languages. In particular, we rely on the evolutionary talking borrowed from biology to discuss major historical landmarks and crucial concepts that shaped the development of programming languages. We examine the general development process, occasionally deepening into some language, trying to uncover evolutionary lineages related to specific programming traits. We mainly focus on concurrency, discussing the different abstraction levels involved in present-day concurrent programming and emphasizing the fact that they correspond to different levels of explanation. We then comment on the role of theoretical research on the quest for suitable programming abstractions, recalling the importance of changing the working framework and the way of looking every so often. This paper is not meant to be a survey of modern mainstream programming languages: it would be very incomplete in that sense. It aims instead at pointing out a number of remarks and connect them under an evolutionary perspective, in order to grasp a unifying, but not simplistic, view of the programming languages development process