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ICES
2010
Springer

HyperNEAT for Locomotion Control in Modular Robots

8 years 8 months ago
HyperNEAT for Locomotion Control in Modular Robots
Abstract. In an application where autonomous robots can amalgamate spontaneously into arbitrary organisms, the individual robots cannot know a priori at which location in an organism they will end up. If the organism is to be controlled autonomously by the constituent robots, an evolutionary algorithm that evolves the controllers can only develop a single genome that will have to suffice for every individual robot. However, the robots should show different behaviour depending on their position in an organism, meaning their phenotype should be different depending on their location. In this paper, we demonstrate a solution for this problem using the HyperNEAT generative encoding technique with differentiated genome expression. We develop controllers for organism locomotion with obstacle avoidance as a proof of concept. Finally, we identify promising directions for further research. To be published in Evolvable Systems: From Biology to Hardware 2010; Gianluca Tempesti, Andy Tyrrell and Ju...
Evert Haasdijk, Andrei A. Rusu, A. E. Eiben
Added 12 Feb 2011
Updated 12 Feb 2011
Type Journal
Year 2010
Where ICES
Authors Evert Haasdijk, Andrei A. Rusu, A. E. Eiben
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