Evolving Robots: from Simple Behaviours to Complete Systems

Created by W.Langdon from gp-bibliography.bib Revision:1.4202

  author =       "Wei-Po Lee",
  title =        "Evolving Robots: from Simple Behaviours to Complete
  school =       "Department of Artificial Intelligence. University of
  year =         "1997",
  address =      "UK",
  keywords =     "genetic algorithms, genetic programming",
  URL =          "http://books.google.co.uk/books/about/Evolving_robots.html?id=uIkKcgAACAAJ&redir_esc=y",
  URL =          "http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.653764",
  abstract =     "Building robots is generally considered difficult,
                 because the designer not only has to predict the
                 interaction between the robot and the environment, but
                 also to deal with ensuing problems. This thesis
                 examines the use of the evolutionary approach in
                 designing robots; the explorations range from evolving
                 simple behaviours for real robots, to complex
                 behaviours (also for real robots), and finally to the
                 complete robot systems - including controllers and body
                 plans. A framework is presented for evolving robot
                 control systems. It includes two components: a task
                 independent Genetic Programming sub-system and a task
                 dependent controller evaluation sub-system. The
                 performance evaluation of each robot controller is done
                 in a simulator to reduce the evaluation time, and then
                 the evolved controllers are downloaded to a real robot
                 for performance verification. In addition, a special
                 representation is designed for the reactive robot
                 controller. It is succinct and can capture well the
                 characteristics of a reactive control system, so that
                 the evolutionary system can efficiently evolve the
                 controllers of the desired behaviours for the robots.
                 The framework has been used to evolve controllers for
                 real robots to achieve a variety of simple tasks
                 successfully, such as obstacle avoidance, safe
                 exploration and box-pushing. A methodology is then
                 proposed to scale up the system to evolve controllers
                 for more complicated tasks. It involves adopting the
                 architecture of a behaviour-based system, and evolving
                 separate behaviour controllers and arbitrators for
                 coordination. This allows robot controllers for more
                 complex skills to be constructed in an incremental
                 manner. Therefore the whole control system becomes easy
                 to evolve; moreover, the resulting control system can
                 be explicitly distributed, understandable to the system
                 designer, and easy to maintain. The methodology has
                 been used to evolve control systems for more complex
                 tasks with good results",
  notes =        "OCLC Number: 607678835",

Genetic Programming entries for Wei-Po Lee