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 |
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Title of host publication | GECCO '19 |
Subtitle of host publication | Proceedings of the Genetic and Evolutionary Computation Conference Companion |
Publisher | Association for Computing Machinery, Inc |
Pages | 127-128 |
Number of pages | 2 |
ISBN (Electronic) | 9781450367486 |
DOIs | |
Publication status | Published - Jul 2019 |
Event | 2019 Genetic and Evolutionary Computation Conference, GECCO 2019 - Prague, Czech Republic Duration: 13 Jul 2019 → 17 Jul 2019 |
Conference
Conference | 2019 Genetic and Evolutionary Computation Conference, GECCO 2019 |
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Country/Territory | Czech Republic |
City | Prague |
Period | 13/07/19 → 17/07/19 |
Keywords
- Encodings
- Evolutionary Robotics