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Virtual Spatiality in Agent Controllers : Encoding Compartmentalization

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2013

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Stradner, Jürgen
Schwarzer, Christopher S. F.
Michiels, Nico K.
Schmickl, Thomas

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https://doi.org/10.1007/978-3-642-37192-9_58
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ESPARCIA-ALCÁZAR, Anna I., ed.. Applications of Evolutionary Computing : 16th European Conference, EvoApplications 2013, Proceedings. Berlin: Springer, 2013, pp. 579-588. Lecture Notes in Computer Science, LNCS. 7835. ISSN 0302-9743. eISSN 1611-3349. ISBN 978-3-642-37191-2. Available under: doi: 10.1007/978-3-642-37192-9_58

Zusammenfassung

Applying methods of artificial evolution to synthesize robot controllers for complex tasks is still a challenging endeavor. We report an approach which might have the potential to improve the performance of evolutionary algorithms in the context of evolutionary robotics. We apply a controller concept that is inspired by signaling networks found in nature. The implementation of spatial features is based on Voronoi diagrams that describe a compartmentalization of the agent’s inner body. These compartments establish a virtual embodiment, including sensors and actuators, and influence the dynamics of virtual hormones. We report results for an exploring task and an object discrimination task. These results indicate that the controller, that determines the principle hormone dynamics, can successfully be evolved in parallel with the compartmentalizations, that determine the spatial features of the sensors, actuators, and hormones.

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004 Informatik

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Voronoi Diagram, Hormone Concentration, Anchor Point, Voronoi Region, Proximity Sensor

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Applications of Evolutionary Computing : 16th European Conference, EvoApplications 2013, 3. Apr. 2013 - 5. Apr. 2013, Vienna, Austria
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ISO 690STRADNER, Jürgen, Heiko HAMANN, Christopher S. F. SCHWARZER, Nico K. MICHIELS, Thomas SCHMICKL, 2013. Virtual Spatiality in Agent Controllers : Encoding Compartmentalization. Applications of Evolutionary Computing : 16th European Conference, EvoApplications 2013. Vienna, Austria, 3. Apr. 2013 - 5. Apr. 2013. In: ESPARCIA-ALCÁZAR, Anna I., ed.. Applications of Evolutionary Computing : 16th European Conference, EvoApplications 2013, Proceedings. Berlin: Springer, 2013, pp. 579-588. Lecture Notes in Computer Science, LNCS. 7835. ISSN 0302-9743. eISSN 1611-3349. ISBN 978-3-642-37191-2. Available under: doi: 10.1007/978-3-642-37192-9_58
BibTex
@inproceedings{Stradner2013Virtu-59914,
  year={2013},
  doi={10.1007/978-3-642-37192-9_58},
  title={Virtual Spatiality in Agent Controllers : Encoding Compartmentalization},
  number={7835},
  isbn={978-3-642-37191-2},
  issn={0302-9743},
  publisher={Springer},
  address={Berlin},
  series={Lecture Notes in Computer Science, LNCS},
  booktitle={Applications of Evolutionary Computing : 16th European Conference, EvoApplications 2013, Proceedings},
  pages={579--588},
  editor={Esparcia-Alcázar, Anna I.},
  author={Stradner, Jürgen and Hamann, Heiko and Schwarzer, Christopher S. F. and Michiels, Nico K. and Schmickl, Thomas}
}
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