Impact of energy efficiency on the morphology and behaviour of evolved robots

Margarita Rebolledo; Daan Zeeuwe; Thomas Bartz-Beielstein; A. E. Eiben

doi:10.1145/3449726.3459489

Impact of energy efficiency on the morphology and behaviour of evolved robots

Margarita Rebolledo, Daan Zeeuwe, Thomas Bartz-Beielstein, A. E. Eiben

Research output: Chapter in Book / Report / Conference proceeding › Conference contribution › Academic › peer-review

Abstract

Most evolutionary robotics studies focus on evolving some targeted behavior without considering energy usage. In this paper, we extend our simulator with a battery model to take energy consumption into account in a system where robot morphologies and controllers evolve simultaneously. The results show that including the energy consumption in the fitness in a multi-objective fashion reduces the average size of robot bodies while reducing their speed. However, robots generated without size reduction can achieve speeds comparable to robots from the baseline set.

Original language	English
Title of host publication	GECCO 2021 Companion
Subtitle of host publication	Proceedings of the 2021 Genetic and Evolutionary Computation Conference Companion
Publisher	Association for Computing Machinery, Inc
Pages	109-110
Number of pages	2
ISBN (Electronic)	9781450383516
DOIs	https://doi.org/10.1145/3449726.3459489
Publication status	Published - Jul 2021
Event	2021 Genetic and Evolutionary Computation Conference, GECCO 2021 - Virtual, Online, France Duration: 10 Jul 2021 → 14 Jul 2021

Conference

Conference	2021 Genetic and Evolutionary Computation Conference, GECCO 2021
Country	France
City	Virtual, Online
Period	10/07/21 → 14/07/21

Bibliographical note

Publisher Copyright:
© 2021 Owner/Author.

Copyright:
Copyright 2021 Elsevier B.V., All rights reserved.

Keywords

energy efficiency
evolutionary robotics
modular robots
multi-objective evolution

Access to Document

10.1145/3449726.3459489

Cite this

@inproceedings{d88d4a80ea2f485b8cae35aa635b8348,

title = "Impact of energy efficiency on the morphology and behaviour of evolved robots",

abstract = "Most evolutionary robotics studies focus on evolving some targeted behavior without considering energy usage. In this paper, we extend our simulator with a battery model to take energy consumption into account in a system where robot morphologies and controllers evolve simultaneously. The results show that including the energy consumption in the fitness in a multi-objective fashion reduces the average size of robot bodies while reducing their speed. However, robots generated without size reduction can achieve speeds comparable to robots from the baseline set.",

keywords = "energy efficiency, evolutionary robotics, modular robots, multi-objective evolution",

author = "Margarita Rebolledo and Daan Zeeuwe and Thomas Bartz-Beielstein and Eiben, {A. E.}",

note = "Publisher Copyright: {\textcopyright} 2021 Owner/Author. Copyright: Copyright 2021 Elsevier B.V., All rights reserved.; 2021 Genetic and Evolutionary Computation Conference, GECCO 2021 ; Conference date: 10-07-2021 Through 14-07-2021",

year = "2021",

month = jul,

doi = "10.1145/3449726.3459489",

language = "English",

pages = "109--110",

booktitle = "GECCO 2021 Companion",

publisher = "Association for Computing Machinery, Inc",

}

Rebolledo, M, Zeeuwe, D, Bartz-Beielstein, T & Eiben, AE 2021, Impact of energy efficiency on the morphology and behaviour of evolved robots. in GECCO 2021 Companion: Proceedings of the 2021 Genetic and Evolutionary Computation Conference Companion. Association for Computing Machinery, Inc, pp. 109-110, 2021 Genetic and Evolutionary Computation Conference, GECCO 2021, Virtual, Online, France, 10/07/21. https://doi.org/10.1145/3449726.3459489

Impact of energy efficiency on the morphology and behaviour of evolved robots. / Rebolledo, Margarita; Zeeuwe, Daan; Bartz-Beielstein, Thomas; Eiben, A. E.

GECCO 2021 Companion: Proceedings of the 2021 Genetic and Evolutionary Computation Conference Companion. Association for Computing Machinery, Inc, 2021. p. 109-110.

Research output: Chapter in Book / Report / Conference proceeding › Conference contribution › Academic › peer-review

TY - GEN

T1 - Impact of energy efficiency on the morphology and behaviour of evolved robots

AU - Rebolledo, Margarita

AU - Zeeuwe, Daan

AU - Bartz-Beielstein, Thomas

AU - Eiben, A. E.

PY - 2021/7

Y1 - 2021/7

N2 - Most evolutionary robotics studies focus on evolving some targeted behavior without considering energy usage. In this paper, we extend our simulator with a battery model to take energy consumption into account in a system where robot morphologies and controllers evolve simultaneously. The results show that including the energy consumption in the fitness in a multi-objective fashion reduces the average size of robot bodies while reducing their speed. However, robots generated without size reduction can achieve speeds comparable to robots from the baseline set.

AB - Most evolutionary robotics studies focus on evolving some targeted behavior without considering energy usage. In this paper, we extend our simulator with a battery model to take energy consumption into account in a system where robot morphologies and controllers evolve simultaneously. The results show that including the energy consumption in the fitness in a multi-objective fashion reduces the average size of robot bodies while reducing their speed. However, robots generated without size reduction can achieve speeds comparable to robots from the baseline set.

KW - energy efficiency

KW - evolutionary robotics

KW - modular robots

KW - multi-objective evolution

UR - http://www.scopus.com/inward/record.url?scp=85111054391&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=85111054391&partnerID=8YFLogxK

U2 - 10.1145/3449726.3459489

DO - 10.1145/3449726.3459489

M3 - Conference contribution

AN - SCOPUS:85111054391

SP - 109

EP - 110

BT - GECCO 2021 Companion

PB - Association for Computing Machinery, Inc

T2 - 2021 Genetic and Evolutionary Computation Conference, GECCO 2021

Y2 - 10 July 2021 through 14 July 2021

ER -

Impact of energy efficiency on the morphology and behaviour of evolved robots

Abstract

Conference

Bibliographical note

Keywords

Access to Document

Fingerprint

Cite this