Evolving robot's behavior by using CNNs

Authors:
Eleonora Bilotta;Giuseppe Cutrí;Pietro Panano
Affiliations:
University of Calabria, Arcavacata di Rende, Italy;University of Turin, Turin, Italy;University of Calabria, Arcavacata di Rende, Italy
Venue:
SAB'06 Proceedings of the 9th international conference on From Animals to Animats: simulation of Adaptive Behavior
Year:
2006

Citing 5
Cited 1

Adaptation in natural and artificial systems

Adaptation in natural and artificial systems
Realization of a Reaction-Diffusion CNN Algorithm for Locomotion Control in an Hexapode Robot

Journal of VLSI Signal Processing Systems - Special issue on spatiotemporal signal processing with analog CNN visual microprocessors
Cellular Neural Networks

Cellular Neural Networks
Evolutionary Robotics: The Biology, Intelligence, and Technology of Self-Organizing Machines

Evolutionary Robotics: The Biology, Intelligence, and Technology of Self-Organizing Machines
Evolving mobile robots in simulated and real environments

Artificial Life

Cellular neural network trainer and template optimisation for advanced robot locomotion based on genetic algorithm

International Journal of Intelligent Systems Technologies and Applications

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Abstract

This paper deals with a new kind of robotic control, based on Chua's nonlinear circuit called Cellular Neural Network (CNN) A CNN is a net of coupled circuits, connected in a grid structure, which inherits its features and properties from the well known Artificial Neural Network and Cellular Automata It has been demonstrated that CNNs are able of universal computation, many cognitive processes such as pattern recognition, features extraction, image processing, and mathematical simulations of nonlinear equations such as Navier-Stokes equations, reaction-diffusion equations, and so on Using an approach like Evolutionary Robotics, we evolved, instead of Neural Networks, CNNs by using Genetic Algorithms (GAs), for controlling the behavior of an hexapod robot in a simulated environment We developed a Java3D software in which physical simulations are carried on by using different kind of robots In this program, a module for evolving the robot's behavior by GAs has been implemented Furthermore, many advanced sensors and actuators complete the evolution of the robot's behavior The evolved behavior of our robots is very similar to that of real insects, and we analyzed the pathways these agents perform in the simulated environment.