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 proceedingConference contributionAcademicpeer-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 languageEnglish
Title of host publicationGECCO 2021 Companion
Subtitle of host publicationProceedings of the 2021 Genetic and Evolutionary Computation Conference Companion
PublisherAssociation for Computing Machinery, Inc
Pages109-110
Number of pages2
ISBN (Electronic)9781450383516
DOIs
Publication statusPublished - Jul 2021
Event2021 Genetic and Evolutionary Computation Conference, GECCO 2021 - Virtual, Online, France
Duration: 10 Jul 202114 Jul 2021

Conference

Conference2021 Genetic and Evolutionary Computation Conference, GECCO 2021
CountryFrance
CityVirtual, Online
Period10/07/2114/07/21

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

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