Automatic creation of an autonomous agent: genetic evolution of a neural-network driven robot
Dario Floreano,Francesco Mondada +1 more
- pp 421-430
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The paper describes the results of the evolutionary development of a real, neural-network driven mobile robot, and shows a number of emergent phenomena that are characteristic of autonomous agents.Abstract:
The paper describes the results of the evolutionary development of a real, neural-network driven mobile robot. The evolutionary approach to the development of neural controllers for autonomous agents has been successfully used by many researchers, but most - if not all - studies have been carried out with computer simulations. Instead, in this research the whole evolutionary process takes places entirely on a real robot without human intervention. Although the experiments described here tackle a simple task of navigation and obstacle avoidance, we show a number of emergent phenomena that are characteristic of autonomous agents. The neural controllers of the evolved best individuals display a full exploitation of non-linear and recurrent connections that make them more efficient than analogous man-designed agents. In order to fully understand and describe the robot behavior, we have also employed quantitative ethological tools [13], and showed that the adaptation dynamics conform to predictions made for animals.read more
Citations
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Book Chapter
Evolutionary Robotics and Neuroscience
Phil Husbands,Renan Cipriano Moioli,Yoonsik Shim,Andrew Philippides,Patricia A. Vargas,Michael O'Shea +5 more
TL;DR: This chapter contains sections titled: 2.1 Relationships between Evolutionary Robotics and Neuroscience, and Neuroscience-Inspired ER Case Studies.
DissertationDOI
Biologically inspired computational structures and processes for autonomous agents and robots
TL;DR: This dissertation views animals as biological agents, and considers artificial analogs of biological structures and processes in the design of effective agent behaviors, and explores behaviors generated by artificieil neurzd structures appropriately shaped by the processes of evolution and spatiad learning.
Proceedings Article
Genetic programming for robot vision
TL;DR: Genetic Programming was used to create the vision subsystem of a reactive obstacle avoidance system for an autonomous mobile robot that successfully navigated in unstructured hallways, performing on par with hand-crafted systems.
Proceedings Article
Coupling morphology and control in a simulated robot
Craig Mautner,Richard K. Belew +1 more
TL;DR: This paper takes early steps toward the coupled evolution of both the body and the control structure in real robots by exploring the space of sensor and effector selection and positioning coupled with a neural network linking them within a simulated environment.
Proceedings ArticleDOI
The effects of morphology and fitness on catastrophic interference
TL;DR: A large number of methods intended to combat interference have been reported in the literature, but the effectiveness of any of them is still unclear.
References
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Book
Genetic algorithms in search, optimization, and machine learning
TL;DR: In this article, the authors present the computer techniques, mathematical tools, and research results that will enable both students and practitioners to apply genetic algorithms to problems in many fields, including computer programming and mathematics.
Book
Adaptation in natural and artificial systems
TL;DR: Names of founding work in the area of Adaptation and modiication, which aims to mimic biological optimization, and some (Non-GA) branches of AI.
Intelligence without Representation
TL;DR: Brooks et al. as mentioned in this paper decompose an intelligent system into independent and parallel activity producers which all interface directly to the world through perception and action, rather than interface to each other particularly much.
Journal ArticleDOI
Intelligence without representation
TL;DR: Brooks et al. as discussed by the authors decompose an intelligent system into independent and parallel activity producers which all interface directly to the world through perception and action, rather than interface to each other particularly much.