Body symmetry in morphologically evolving modular robots

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

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 - 22nd International Conference, EvoApplications 2019, Held as Part of EvoStar 2019, Proceedings
EditorsPaul Kaufmann, Pedro A. Castillo
PublisherSpringer Verlag
Pages583-598
Number of pages16
ISBN (Print)9783030166915
DOIs
Publication statusPublished - 1 Jan 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 LNCS
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

Fingerprint

Modular robots
Animals
Robot
Earth (planet)
Robots
Fitness
Symmetry
Locomotion
Quantify

Keywords

  • Evolutionary robotics
  • Modular robots
  • Symmetry

Cite this

van de Velde, T., Rossi, C., & Eiben, A. E. (2019). Body symmetry in morphologically evolving modular robots. In P. Kaufmann, & P. A. Castillo (Eds.), Applications of Evolutionary Computation - 22nd International Conference, EvoApplications 2019, Held as Part of EvoStar 2019, Proceedings (pp. 583-598). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 11454 LNCS). Springer Verlag. https://doi.org/10.1007/978-3-030-16692-2_39
van de Velde, T. ; Rossi, C. ; Eiben, A. E. / Body symmetry in morphologically evolving modular robots. Applications of Evolutionary Computation - 22nd International Conference, EvoApplications 2019, Held as Part of EvoStar 2019, Proceedings. editor / Paul Kaufmann ; Pedro A. Castillo. Springer Verlag, 2019. pp. 583-598 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)).
@inproceedings{1ba8589bb00f40d9978f0adc33e71ba9,
title = "Body symmetry in morphologically evolving modular robots",
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.",
keywords = "Evolutionary robotics, Modular robots, Symmetry",
author = "{van de Velde}, T. and C. Rossi and Eiben, {A. E.}",
year = "2019",
month = "1",
day = "1",
doi = "10.1007/978-3-030-16692-2_39",
language = "English",
isbn = "9783030166915",
series = "Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)",
publisher = "Springer Verlag",
pages = "583--598",
editor = "Paul Kaufmann and Castillo, {Pedro A.}",
booktitle = "Applications of Evolutionary Computation - 22nd International Conference, EvoApplications 2019, Held as Part of EvoStar 2019, Proceedings",
address = "Germany",

}

van de Velde, T, Rossi, C & Eiben, AE 2019, Body symmetry in morphologically evolving modular robots. in P Kaufmann & PA Castillo (eds), Applications of Evolutionary Computation - 22nd International Conference, EvoApplications 2019, Held as Part of EvoStar 2019, Proceedings. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), vol. 11454 LNCS, Springer Verlag, pp. 583-598, 22nd International Conference on Applications of Evolutionary Computation, EvoApplications 2019, held as Part of EvoStar 2019, Leipzig, Germany, 24/04/19. https://doi.org/10.1007/978-3-030-16692-2_39

Body symmetry in morphologically evolving modular robots. / van de Velde, T.; Rossi, C.; Eiben, A. E.

Applications of Evolutionary Computation - 22nd International Conference, EvoApplications 2019, Held as Part of EvoStar 2019, Proceedings. ed. / Paul Kaufmann; Pedro A. Castillo. Springer Verlag, 2019. p. 583-598 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 11454 LNCS).

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

TY - GEN

T1 - Body symmetry in morphologically evolving modular robots

AU - van de Velde, T.

AU - Rossi, C.

AU - Eiben, A. E.

PY - 2019/1/1

Y1 - 2019/1/1

N2 - 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.

AB - 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.

KW - Evolutionary robotics

KW - Modular robots

KW - Symmetry

UR - http://www.scopus.com/inward/record.url?scp=85065727575&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=85065727575&partnerID=8YFLogxK

U2 - 10.1007/978-3-030-16692-2_39

DO - 10.1007/978-3-030-16692-2_39

M3 - Conference contribution

SN - 9783030166915

T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)

SP - 583

EP - 598

BT - Applications of Evolutionary Computation - 22nd International Conference, EvoApplications 2019, Held as Part of EvoStar 2019, Proceedings

A2 - Kaufmann, Paul

A2 - Castillo, Pedro A.

PB - Springer Verlag

ER -

van de Velde T, Rossi C, Eiben AE. Body symmetry in morphologically evolving modular robots. In Kaufmann P, Castillo PA, editors, Applications of Evolutionary Computation - 22nd International Conference, EvoApplications 2019, Held as Part of EvoStar 2019, Proceedings. Springer Verlag. 2019. p. 583-598. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)). https://doi.org/10.1007/978-3-030-16692-2_39