Testing diversity-enhancing migration policies for hybrid on-line evolution of robot controllers

Authors:
Pablo García-Sánchez;A. E. Eiben;Evert Haasdijk;Berend Weel;Juan-Julián Merelo-Guervós
Affiliations:
Dept. of Computer Architecture and Technology, University of Granada, Spain;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;Dept. of Computer Architecture and Technology, University of Granada, Spain
Venue:
EvoApplications'12 Proceedings of the 2012t European conference on Applications of Evolutionary Computation
Year:
2012

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Abstract

We investigate on-line on-board evolution of robot controllers based on the so-called hybrid approach (island-based). Inherently to this approach each robot hosts a population (island) of evolving controllers and exchanges controllers with other robots at certain times. We compare different exchange (migration) policies in order to optimize this evolutionary system and compare the best hybrid setup with the encapsulated and distributed alternatives. We conclude that adding a difference-based migrant selection scheme increases the performance.