Publikation:

Evolving a Novel Bio-inspired Controller in Reconfigurable Robots

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2011

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Stradner, Jürgen
Schmickl, Thomas
Thenius, Ronald
Crailsheim, Karl

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https://doi.org/10.1007/978-3-642-21283-3_17
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KAMPIS, George, ed., István KARSAI, ed., Eörs SZATHMÁRY, ed.. Advances in Artificial Life - Darwin meets von Neumann : 10th European Conference, ECAL 2009, Budapest, Hungary, September 13-16, 2009, Revised Selected Papers, Part I. Berlin: Springer, 2011, pp. 132-139. Lecture Notes in Artificial Intelligence. 5777. ISSN 0302-9743. eISSN 1611-3349. ISBN 978-3-642-21282-6. Available under: doi: 10.1007/978-3-642-21283-3_17

Zusammenfassung

Evolutionary robotics uses evolutionary computation to optimize physically embodied agents. We present here a framework for performing off-line evolution of a pluripotent robot controller that manages to form multicellular robotic organisms from a swarm of autonomously moving small robot modules. We describe our evolutionary framework, show first results and discuss the advantages and disadvantages of our off-line evolution approach. In detail, we explain the single parts of the framework and a novel homeostatic hormone-based controller, which is shaped by artificial evolution to control both, the non-aggregated single robotic modules and the joined high-level robotic organisms. As a first step we present results of this evolutionary shaped controller showing the potential for different motion behaviours.

Zusammenfassung in einer weiteren Sprache

Fachgebiet (DDC)
004 Informatik

Schlagwörter

Motion Behaviour, Evolutionary Framework, Real Robot, Evolutionary Engine, Robot Controller

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ECAL 2009 : 10th European Conference, 13. Sept. 2009 - 16. Sept. 2009, Budapest, Hungary
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ISO 690STRADNER, Jürgen, Heiko HAMANN, Thomas SCHMICKL, Ronald THENIUS, Karl CRAILSHEIM, 2011. Evolving a Novel Bio-inspired Controller in Reconfigurable Robots. ECAL 2009 : 10th European Conference. Budapest, Hungary, 13. Sept. 2009 - 16. Sept. 2009. In: KAMPIS, George, ed., István KARSAI, ed., Eörs SZATHMÁRY, ed.. Advances in Artificial Life - Darwin meets von Neumann : 10th European Conference, ECAL 2009, Budapest, Hungary, September 13-16, 2009, Revised Selected Papers, Part I. Berlin: Springer, 2011, pp. 132-139. Lecture Notes in Artificial Intelligence. 5777. ISSN 0302-9743. eISSN 1611-3349. ISBN 978-3-642-21282-6. Available under: doi: 10.1007/978-3-642-21283-3_17
BibTex
@inproceedings{Stradner2011Evolv-59906,
  year={2011},
  doi={10.1007/978-3-642-21283-3_17},
  title={Evolving a Novel Bio-inspired Controller in Reconfigurable Robots},
  number={5777},
  isbn={978-3-642-21282-6},
  issn={0302-9743},
  publisher={Springer},
  address={Berlin},
  series={Lecture Notes in Artificial Intelligence},
  booktitle={Advances in Artificial Life - Darwin meets von Neumann : 10th European Conference, ECAL 2009, Budapest, Hungary, September 13-16, 2009, Revised Selected Papers, Part I},
  pages={132--139},
  editor={Kampis, George and Karsai, István and Szathmáry, Eörs},
  author={Stradner, Jürgen and Hamann, Heiko and Schmickl, Thomas and Thenius, Ronald and Crailsheim, Karl}
}
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