Comparing encodings for performance and phenotypic exploration in evolving modular robots

Frank Veenstra; Emma Hart; Edgar Buchanan; Wei Li; Matteo De Carlo; Agoston E. Eiben

doi:10.1145/3319619.3322054

Comparing encodings for performance and phenotypic exploration in evolving modular robots

Frank Veenstra, Emma Hart, Edgar Buchanan, Wei Li, Matteo De Carlo, Agoston E. Eiben

Research output: Chapter in Book / Report / Conference proceeding › Conference contribution › Academic › peer-review

Abstract

To investigate how encodings influence evolving the morphology and control of modular robots, we compared three encodings: a direct encoding and two generative encodings-a compositional pattern producing network (CPPN) and a Lindenmayer System (L-System). The evolutionary progression and final performance of the direct encoding and the L-System was significantly better than the CPPN. The generative encodings converge quicker than the direct encoding in terms of morphological and controller diversity.

Original language	English
Title of host publication	GECCO 2019 Companion - Proceedings of the 2019 Genetic and Evolutionary Computation Conference Companion
Publisher	Association for Computing Machinery, Inc
Pages	127-128
Number of pages	2
ISBN (Electronic)	9781450367486
DOIs	https://doi.org/10.1145/3319619.3322054
Publication status	Published - 13 Jul 2019
Event	2019 Genetic and Evolutionary Computation Conference, GECCO 2019 - Prague, Czech Republic Duration: 13 Jul 2019 → 17 Jul 2019

Publication series

Name	GECCO 2019 Companion - Proceedings of the 2019 Genetic and Evolutionary Computation Conference Companion

Conference

Conference	2019 Genetic and Evolutionary Computation Conference, GECCO 2019
Country	Czech Republic
City	Prague
Period	13/07/19 → 17/07/19

Keywords

Encodings
Evolutionary Robotics

Access to Document

10.1145/3319619.3322054

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Veenstra, F., Hart, E., Buchanan, E., Li, W., De Carlo, M., & Eiben, A. E. (2019). Comparing encodings for performance and phenotypic exploration in evolving modular robots. In GECCO 2019 Companion - Proceedings of the 2019 Genetic and Evolutionary Computation Conference Companion (pp. 127-128). (GECCO 2019 Companion - Proceedings of the 2019 Genetic and Evolutionary Computation Conference Companion). Association for Computing Machinery, Inc. https://doi.org/10.1145/3319619.3322054

Veenstra, Frank ; Hart, Emma ; Buchanan, Edgar ; Li, Wei ; De Carlo, Matteo ; Eiben, Agoston E. / Comparing encodings for performance and phenotypic exploration in evolving modular robots. GECCO 2019 Companion - Proceedings of the 2019 Genetic and Evolutionary Computation Conference Companion. Association for Computing Machinery, Inc, 2019. pp. 127-128 (GECCO 2019 Companion - Proceedings of the 2019 Genetic and Evolutionary Computation Conference Companion).

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Veenstra, F, Hart, E, Buchanan, E, Li, W, De Carlo, M & Eiben, AE 2019, Comparing encodings for performance and phenotypic exploration in evolving modular robots. in GECCO 2019 Companion - Proceedings of the 2019 Genetic and Evolutionary Computation Conference Companion. GECCO 2019 Companion - Proceedings of the 2019 Genetic and Evolutionary Computation Conference Companion, Association for Computing Machinery, Inc, pp. 127-128, 2019 Genetic and Evolutionary Computation Conference, GECCO 2019, Prague, Czech Republic, 13/07/19. https://doi.org/10.1145/3319619.3322054

Comparing encodings for performance and phenotypic exploration in evolving modular robots. / Veenstra, Frank; Hart, Emma; Buchanan, Edgar; Li, Wei; De Carlo, Matteo ; Eiben, Agoston E.

GECCO 2019 Companion - Proceedings of the 2019 Genetic and Evolutionary Computation Conference Companion. Association for Computing Machinery, Inc, 2019. p. 127-128 (GECCO 2019 Companion - Proceedings of the 2019 Genetic and Evolutionary Computation Conference Companion).

Research output: Chapter in Book / Report / Conference proceeding › Conference contribution › Academic › peer-review

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Veenstra F, Hart E, Buchanan E, Li W, De Carlo M , Eiben AE. Comparing encodings for performance and phenotypic exploration in evolving modular robots. In GECCO 2019 Companion - Proceedings of the 2019 Genetic and Evolutionary Computation Conference Companion. Association for Computing Machinery, Inc. 2019. p. 127-128. (GECCO 2019 Companion - Proceedings of the 2019 Genetic and Evolutionary Computation Conference Companion). https://doi.org/10.1145/3319619.3322054