@inproceedings{ea259653bc8144a78100ee294ab9d04a,
title = "Comparing encodings for performance and phenotypic exploration in evolving modular robots",
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.",
keywords = "Encodings, Evolutionary Robotics",
author = "Frank Veenstra and Emma Hart and Edgar Buchanan and Wei Li and {De Carlo}, Matteo and Eiben, {Agoston E.}",
year = "2019",
month = jul,
day = "13",
doi = "10.1145/3319619.3322054",
language = "English",
series = "GECCO 2019 Companion - Proceedings of the 2019 Genetic and Evolutionary Computation Conference Companion",
publisher = "Association for Computing Machinery, Inc",
pages = "127--128",
booktitle = "GECCO 2019 Companion - Proceedings of the 2019 Genetic and Evolutionary Computation Conference Companion",
note = "2019 Genetic and Evolutionary Computation Conference, GECCO 2019 ; Conference date: 13-07-2019 Through 17-07-2019",
}