Evolving Controllers for Real Robots: A Survey of the Literature


Autoria(s): Walker, Joanne Heather; Garrett, Simon Martin; Wilson, Myra Scott
Contribuinte(s)

Intelligent Robotics Group

Department of Computer Science

Data(s)

31/08/2006

31/08/2006

2003

Resumo

Walker,J. and Garrett,S. and Wilson,M.S., 'Evolving Controllers for Real Robots: A Survey of the Literature', Adaptive Behavior, 2003, volume 11, number 3, pp 179--203, Sage

For many years, researchers in the field of mobile robotics have been investigating the use of genetic and evolutionary computation (GEC) to aid the development of mobile robot controllers. Alongside the fundamental choices of the GEC mechanism and its operators, which apply to both simulated and physical evolutionary robotics, other issues have emerged which are specific to the application of GEC to physical mobile robotics. This paper presents a survey of recent methods in GEC-developed mobile robot controllers, focusing on those methods that include a physical robot at some point in the learning loop. It simultaneously relates each of these methods to a framework of two orthogonal issues: the use of a simulated and/or a physical robot, and the use of finite, training phase evolution prior to a task and/or lifelong adaptation by evolution during a task. A list of evaluation criteria are presented and each of the surveyed methods are compared to them. Analyses of the framework and evaluation criteria suggest several possibilities; however, there appear to be particular advantages in combining simulated, training phase evolution (TPE) with lifelong adaptation by evolution (LAE) on a physical robot.

Peer reviewed

Identificador

Walker , J H , Garrett , S M & Wilson , M S 2003 , ' Evolving Controllers for Real Robots: A Survey of the Literature ' Adaptive Behavior , vol 11 , no. 3 , pp. 179-203 . DOI: 10.1177/1059712303113003

1059-7123

PURE: 70916

PURE UUID: 10bfff85-7c26-4e1b-be05-c444fcabd584

dspace: 2160/260

http://hdl.handle.net/2160/260

http://dx.doi.org/10.1177/1059712303113003

Idioma(s)

eng

Relação

Adaptive Behavior

Palavras-Chave #evolutionary robotics #physical robots #simulation #training #lifelong adaptation by evolution
Tipo

/dk/atira/pure/researchoutput/researchoutputtypes/contributiontojournal/article

Article (Journal)

Direitos