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.
|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|
|Number of pages||2|
|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||2021 Genetic and Evolutionary Computation Conference, GECCO 2021|
|Period||10/07/21 → 14/07/21|
Bibliographical notePublisher Copyright:
© 2021 Owner/Author.
Copyright 2021 Elsevier B.V., All rights reserved.
- energy efficiency
- evolutionary robotics
- modular robots
- multi-objective evolution