Incremental evolution of target-following neuro-controllers for flapping-wing animats

Authors:
Jean-Baptiste Mouret;Sté/phane Doncieux;Jean-Arcady Meyer
Affiliations:
AnimatLab/LIP6, Paris, F-75015 France/CNRS, UMR7606, Université/ Pierre et Marie Curie-Paris 6, UMR7606, Paris, France;AnimatLab/LIP6, Paris, F-75015 France/CNRS, UMR7606, Université/ Pierre et Marie Curie-Paris 6, UMR7606, Paris, France;AnimatLab/LIP6, Paris, F-75015 France/CNRS, UMR7606, Université/ Pierre et Marie Curie-Paris 6, UMR7606, Paris, France
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

Using an incremental multi-objective evolutionary algorithm and the ModNet encoding, we generated working neuro-controllers for target-following behavior in a simulated flapping-wing animat To this end, we evolved tail controllers that were combined with two closed-loop wing-beat controllers previously generated, and able to secure straight flight at constant altitude and speed The corresponding results demonstrate that a wing-beat strategy that consists in continuously adapting the twist of the external wing panel leads to better manoeuvring capabilities than another strategy that adapts the beating amplitude Such differences suggest that further improvements in flying control should better rely on some sort of automatic incremental evolution procedure than on any hand-designed decomposition of the problem.