Body symmetry in morphologically evolving modular robots

T. van de Velde*, C. Rossi, A. E. Eiben

*Corresponding author for this work

Research output: Chapter in Book / Report / Conference proceedingConference contributionAcademicpeer-review

Abstract

Almost all animals natural evolution has produced on Earth have a symmetrical body. In this paper we investigate the evolution of body symmetry in an artificial system where robots evolve. To this end, we define several measures to quantify symmetry in modular robots and see how these relate to fitness that corresponds to a locomotion task. We find that, although there is only a weak correlation between symmetry and fitness over the course of a single evolutionary run, there is a positive correlation between the level of symmetry and maximum fitness when a set of runs is taken into account.

Original languageEnglish
Title of host publicationApplications of Evolutionary Computation
Subtitle of host publication22nd International Conference, EvoApplications 2019, Held as Part of EvoStar 2019, Leipzig, Germany, April 24–26, 2019, Proceedings
EditorsPedro A. Castillo, Paul Kaufmann
PublisherSpringer Verlag
Pages583-598
Number of pages16
ISBN (Electronic)9783030166922
ISBN (Print)9783030166915
DOIs
Publication statusPublished - 2019
Event22nd International Conference on Applications of Evolutionary Computation, EvoApplications 2019, held as Part of EvoStar 2019 - Leipzig, Germany
Duration: 24 Apr 201926 Apr 2019

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume11454
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349

Conference

Conference22nd International Conference on Applications of Evolutionary Computation, EvoApplications 2019, held as Part of EvoStar 2019
CountryGermany
CityLeipzig
Period24/04/1926/04/19

Keywords

  • Evolutionary robotics
  • Modular robots
  • Symmetry

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