TY - GEN
T1 - Evolving-Controllers Versus Learning-Controllers for Morphologically Evolvable Robots
AU - Miras, Karine
AU - De Carlo, Matteo
AU - Akhatou, Sayfeddine
AU - Eiben, A. E.
PY - 2020
Y1 - 2020
N2 - We investigate an evolutionary robot system where (simulated) modular robots can reproduce and create robot children that inherit the parents’ morphologies by crossover and mutation. Within this system we compare two approaches to creating good controllers, i.e., evolution only and evolution plus learning. In the first one the controller of a robot child is inherited, so that it is produced by applying crossover and mutation to the controllers of its parents. In the second one the controller of the child is also inherited, but additionally, it is enhanced by a learning method. The experiments show that the learning approach does not only lead to different fitness levels, but also to different (bigger) robots. This constitutes a quantitative demonstration that changes in brains, i.e., controllers, can induce changes in the bodies, i.e., morphologies.
AB - We investigate an evolutionary robot system where (simulated) modular robots can reproduce and create robot children that inherit the parents’ morphologies by crossover and mutation. Within this system we compare two approaches to creating good controllers, i.e., evolution only and evolution plus learning. In the first one the controller of a robot child is inherited, so that it is produced by applying crossover and mutation to the controllers of its parents. In the second one the controller of the child is also inherited, but additionally, it is enhanced by a learning method. The experiments show that the learning approach does not only lead to different fitness levels, but also to different (bigger) robots. This constitutes a quantitative demonstration that changes in brains, i.e., controllers, can induce changes in the bodies, i.e., morphologies.
KW - Evolutionary Robotics
KW - Life-time learning
KW - Modular robots
KW - Morphological evolution
UR - http://www.scopus.com/inward/record.url?scp=85084743267&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85084743267&partnerID=8YFLogxK
U2 - 10.1007/978-3-030-43722-0_6
DO - 10.1007/978-3-030-43722-0_6
M3 - Conference contribution
AN - SCOPUS:85084743267
SN - 9783030437213
T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
SP - 86
EP - 99
BT - Applications of Evolutionary Computation
A2 - Castillo, Pedro A.
A2 - Jiménez Laredo, Juan Luis
A2 - Fernández de Vega, Francisco
PB - Springer
T2 - 23rd European Conference on Applications of Evolutionary Computation, EvoApplications 2020, held as part of EvoStar 2020
Y2 - 15 April 2020 through 17 April 2020
ER -