HyperNEAT for Locomotion Control in Modular Robots

E.W. Haasdijk, A.A. Rusu, A.E. Eiben

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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.
Original languageEnglish
Pages (from-to)169-180
JournalLecture Notes in Computer Science
Volume6247
DOIs
Publication statusPublished - 2010
EventICES 2010 - Heidelberg
Duration: 6 Sep 20108 Sep 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

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