Hybridized GP and self-adaptive DE for morphology-controller co-evolution of heterogeneous modular robots

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@InProceedings{Shun:2014:ICCST,
  author =       "Chee Wei Shun and Jason Teo",
  booktitle =    "International Conference on Computational Science and
                 Technology (ICCST 2014)",
  title =        "Hybridized GP and self-adaptive DE for
                 morphology-controller co-evolution of heterogeneous
                 modular robots",
  year =         "2014",
  month =        aug,
  abstract =     "This paper explores the use of hybridised Genetic
                 Programming and self-adaptive Differential Evolution
                 algorithm to automatically design and co-evolve both
                 the controller and morphology of heterogeneous swarm
                 modular robots. A novel tree-based structure is
                 proposed and implemented for the modular robot
                 structure and ANN representation, which allows the
                 evolutionary optimisation of the co-evolution of
                 morphology and controller to be carried out
                 simultaneously. Two different simulations are conducted
                 in this paper with the aim of co-evolving the
                 multi-branching modular robots to develop moving
                 behaviour and the snake-like modular robots to crawl
                 through a narrow path. The results from the simulation
                 show the promise of this work and illustrate the
                 importance of co-evolving both the robots' bodies as
                 well as their controllers.",
  keywords =     "genetic algorithms, genetic programming, Artificial
                 neural networks, Biological cells, Morphology, Neurons,
                 Robot kinematics, Servomotors, differential evolution,
                 modular robots, tree-based structures",
  DOI =          "doi:10.1109/ICCST.2014.7045185",
  notes =        "Also known as \cite{7045185}",
}

Genetic Programming entries for Chee Wei Shun Jason Teo

Citations