Evolving spatiotemporal coordination in a modular robotic system

  • Authors:

  • Mikhail Prokopenko;Vadim Gerasimov;Ivan Tanev

  • Affiliations:

  • CSIRO Information and Communication Technology Centre, North Ryde, Australia;CSIRO Information and Communication Technology Centre, North Ryde, Australia;Department of Information Systems Design, Doshisha University, Kyoto, Japan

  • Venue:
  • SAB'06 Proceedings of the 9th international conference on From Animals to Animats: simulation of Adaptive Behavior
  • Year:
  • 2006

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Abstract

In this paper we present a novel information-theoretic measure of spatiotemporal coordination in a modular robotic system, and use it as a fitness function in evolving the system This approach exemplifies a new methodology formalizing co-evolution in multi-agent adaptive systems: information-driven evolutionary design The methodology attempts to link together different aspects of information transfer involved in adaptive systems, and suggests to approximate direct task-specific fitness functions with intrinsic selection pressures In particular, the information-theoretic measure of coordination employed in this work estimates the generalized correlation entropy K2 and the generalized excess entropy E2 computed over a multivariate time series of actuators' states The simulated modular robotic system evolved according to the new measure exhibits regular locomotion and performs well in challenging terrains.