Abstract
This study investigates how the introduction of morphological novelty affects the fitness and diversity of a population of modular robots. Novelty is usually measured in behavioral space, while the approach discussed in this paper assesses novelty solely using morphologies. The proposed algorithm is inspired by the histogram of oriented gradients, in combination with elements of principal component analysis, and the Wasserstein distance. The experiments conducted utilize novelty in parent selection, with different configurations. Analyzing the results, the introduction of morphological novelty promotes beneficial effects on fitness and diversity when applied correctly.
| Original language | English |
|---|---|
| Title of host publication | 2023 IEEE Symposium Series on Computational Intelligence (SSCI) |
| Subtitle of host publication | [Proceedings] |
| Publisher | Institute of Electrical and Electronics Engineers Inc. |
| Pages | 1066-1071 |
| Number of pages | 6 |
| ISBN (Electronic) | 9781665430654 |
| DOIs | |
| Publication status | Published - 2024 |
| Event | 2023 IEEE Symposium Series on Computational Intelligence, SSCI 2023 - Mexico City, Mexico Duration: 5 Dec 2023 → 8 Dec 2023 |
Conference
| Conference | 2023 IEEE Symposium Series on Computational Intelligence, SSCI 2023 |
|---|---|
| Country/Territory | Mexico |
| City | Mexico City |
| Period | 5/12/23 → 8/12/23 |
Bibliographical note
Publisher Copyright:© 2023 IEEE.
Keywords
- Evolutionary Robotics
- Evolvable Morphologies
- Morphological Traits
- Novelty Search
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