Genetic programming: on the programming of computers by means of natural selection
Genetic programming: on the programming of computers by means of natural selection
Genetic programming and emergent intelligence
Advances in genetic programming
Biologically Inspired Robots: Serpentile Locomotors and Manipulators
Biologically Inspired Robots: Serpentile Locomotors and Manipulators
Grammatical Evolution: Evolutionary Automatic Programming in an Arbitrary Language
Grammatical Evolution: Evolutionary Automatic Programming in an Arbitrary Language
Limbless locomotion: learning to crawl with a snake robot
Limbless locomotion: learning to crawl with a snake robot
Probabilistic incremental program evolution
Evolutionary Computation
Evolving motion of robots with muscles
EvoWorkshops'03 Proceedings of the 2003 international conference on Applications of evolutionary computing
IEEE Transactions on Evolutionary Computation
Emergent generality of adapted locomotion gaits of simulated snake-like robot
EuroGP'06 Proceedings of the 9th European conference on Genetic Programming
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In this work we propose an approach of incorporating learning probabilistic context-sensitive grammar (LPCSG) in genetic programming (GP) employed for evolution and adaptation of locomotion gaits of simulated snake-like robot (Snakebot). In our approach LPCSG is derived from the originally defined context-free grammar, which usually expresses the syntax of genetic programs in canonical GP. During the especially introduced steered mutation the probabilities of applying each of particular production rules with multiple right-hand side alternatives in LPCSG depend on the context, and these probabilities are learned from the aggregated reward values obtained from the evolved best-of-generation Snakebots. Empirically obtained results verify that employing LPCSG contributes to the improvement of computational effort of both (i) the evolution of the fastest possible locomotion gaits for various fitness conditions and (ii) adaptation of these locomotion gaits to challenging environment and degraded mechanical abilities of Snakebot. In all of the cases considered in this study, the locomotion gaits, evolved and adapted employing GP with LPCSG feature higher velocity and are obtained faster than with canonical GP.