Abstract
In an application where autonomous robots can amalgamate spontaneously
into arbitrary organisms, the individual robots cannot know a priori at
which location in an organism they will end up. If the organism is to be controlled
autonomously by the constituent robots, an evolutionary algorithm that
evolves the controllers can only develop a single genome that will have to suffice
for every individual robot. However, the robots should show different behaviour
depending on their position in an organism, meaning their phenotype should be
different depending on their location. In this paper, we demonstrate a solution
for this problem using the HyperNEAT generative encoding technique with differentiated
genome expression. We develop controllers for organism locomotion
with obstacle avoidance as a proof of concept. Finally, we identify promising
directions for further research.
into arbitrary organisms, the individual robots cannot know a priori at
which location in an organism they will end up. If the organism is to be controlled
autonomously by the constituent robots, an evolutionary algorithm that
evolves the controllers can only develop a single genome that will have to suffice
for every individual robot. However, the robots should show different behaviour
depending on their position in an organism, meaning their phenotype should be
different depending on their location. In this paper, we demonstrate a solution
for this problem using the HyperNEAT generative encoding technique with differentiated
genome expression. We develop controllers for organism locomotion
with obstacle avoidance as a proof of concept. Finally, we identify promising
directions for further research.
Original language | English |
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Pages (from-to) | 169-180 |
Journal | Lecture Notes in Computer Science |
Volume | 6247 |
DOIs | |
Publication status | Published - 2010 |
Event | ICES 2010 - Heidelberg Duration: 6 Sept 2010 → 8 Sept 2010 |
Bibliographical note
Proceedings title: Evolvable Systems: From Biology to Hardware, proceedings of the 9th International Conference on Evolvable Systems (ICES 2010)Publisher: Springer Verlag
Place of publication: Heidelberg
Editors: G Tempesti, A.M Tyrell, J.F Miller