Sciweavers

Share
EVOW
2001
Springer

Evolution of Spiking Neural Controllers for Autonomous Vision-Based Robots

9 years 6 months ago
Evolution of Spiking Neural Controllers for Autonomous Vision-Based Robots
Abstract. We describe a set of preliminary experiments to evolve spiking neural controllers for a vision-based mobile robot. All the evolutionary experiments are carried out on physical robots without human intervention. After discussing how to implement and interface these neurons with a physical robot, we show that evolution finds relatively quickly functional spiking controllers capable of navigating in irregularly textured environments without hitting obstacles using a very simple genetic encoding and fitness function. Neuroethological analysis of the network activity let us understand the functioning of evolved controllers and tell the relative importance of single neurons independently of their observed firing rate. Finally, a number of systematic lesion experiments indicate that evolved spiking controllers are very robust to synaptic strength decay that typically occurs in hardware implementations of spiking circuits. 1 Spiking Neural Circuits The great majority of biological...
Dario Floreano, Claudio Mattiussi
Added 28 Jul 2010
Updated 28 Jul 2010
Type Conference
Year 2001
Where EVOW
Authors Dario Floreano, Claudio Mattiussi
Comments (0)
books