HyperNEAT for locomotion control in modular robots

Authors:
Evert Haasdijk;Andrei A. Rusu;A. E. Eiben
Affiliations:
Dept. of Computer Science, Vrije Universiteit Amsterdam, The Netherlands;Dept. of Computer Science, Vrije Universiteit Amsterdam, The Netherlands;Dept. of Computer Science, Vrije Universiteit Amsterdam, The Netherlands
Venue:
ICES'10 Proceedings of the 9th international conference on Evolvable systems: from biology to hardware
Year:
2010

Citing 10
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Abstract

In an application where autonomous robots can amalgamate spontaneously into arbitrary organisms, the individual robots cannot know a priori at which location in an organism they will end up. If the organism is to be controlled autonomously by the constituent robots, an evolutionary algorithm that evolves the controllers can only develop a single genome that will have to suffice for every individual robot. However, the robots should show different behaviour depending on their position in an organism, meaning their phenotype should be different depending on their location. In this paper, we demonstrate a solution for this problem using the HyperNEAT generative encoding technique with differentiated genome expression. We develop controllers for organism locomotion with obstacle avoidance as a proof of concept. Finally, we identify promising directions for further research.