Fractal gene regulatory networks for robust locomotion control of modular robots

Authors:
Payam Zahadat;David Johan Christensen;Ulrik Pagh Schultz;Serajeddin Katebi;Kasper Stoy
Affiliations:
The Maersk Mc-Kinney Moller Institute, University of Southern Denmark and Department of Computer Science and Engineering, School of Engineering, Shiraz University, Shiraz, Iran;The Maersk Mc-Kinney Moller Institute, University of Southern Denmark;The Maersk Mc-Kinney Moller Institute, University of Southern Denmark;Department of Computer Science and Engineering, School of Engineering, Shiraz University, Shiraz, Iran;The Maersk Mc-Kinney Moller Institute, University of Southern Denmark
Venue:
SAB'10 Proceedings of the 11th international conference on Simulation of adaptive behavior: from animals to animats
Year:
2010

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Abstract

Designing controllers for modular robots is difficult due to the distributed and dynamic nature of the robots. In this paper fractal gene regulatory networks are evolved to control modular robots in a distributed way. Experiments with different morphologies of modular robot are performed and the results show good performance compared to previous results achieved using learning methods. Furthermore, some experiments are performed to investigate evolvability of the achieved solutions in the case of module failure and it is shown that the system is capable of come up with new effective solutions.