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 proceedingConference contributionAcademicpeer-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 languageEnglish
Title of host publicationGECCO 2019 Companion - Proceedings of the 2019 Genetic and Evolutionary Computation Conference Companion
PublisherAssociation for Computing Machinery, Inc
Pages127-128
Number of pages2
ISBN (Electronic)9781450367486
DOIs
Publication statusPublished - 13 Jul 2019
Event2019 Genetic and Evolutionary Computation Conference, GECCO 2019 - Prague, Czech Republic
Duration: 13 Jul 201917 Jul 2019

Publication series

NameGECCO 2019 Companion - Proceedings of the 2019 Genetic and Evolutionary Computation Conference Companion

Conference

Conference2019 Genetic and Evolutionary Computation Conference, GECCO 2019
CountryCzech Republic
CityPrague
Period13/07/1917/07/19

Fingerprint

Modular robots
Encoding
Robot
Controllers
Progression
Converge
Controller

Keywords

  • Encodings
  • Evolutionary Robotics

Cite this

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 proceedingConference contributionAcademicpeer-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