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 |
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Title of host publication | GECCO 2021 |
Subtitle of host publication | Proceedings of the Genetic and Evolutionary Computation Conference Companion |
Publisher | Association for Computing Machinery, Inc |
Pages | 109-110 |
Number of pages | 2 |
ISBN (Electronic) | 9781450383516 |
DOIs | |
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 |
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Country/Territory | 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