Numerical Optimization of Computer Models
Numerical Optimization of Computer Models
Evolutionary Robotics: The Biology,Intelligence,and Technology
Evolutionary Robotics: The Biology,Intelligence,and Technology
ICAL 2003 Proceedings of the eighth international conference on Artificial life
Costs and Benefits of Tuning Parameters of Evolutionary Algorithms
Proceedings of the 10th international conference on Parallel Problem Solving from Nature: PPSN X
Fitness functions in evolutionary robotics: A survey and analysis
Robotics and Autonomous Systems
Relevance estimation and value calibration of evolutionary algorithm parameters
IJCAI'07 Proceedings of the 20th international joint conference on Artifical intelligence
Comparing parameter tuning methods for evolutionary algorithms
CEC'09 Proceedings of the Eleventh conference on Congress on Evolutionary Computation
EvAg: a scalable peer-to-peer evolutionary algorithm
Genetic Programming and Evolvable Machines
Self-Adaptive Mutation in On-line, On-board Evolutionary Robotics
SASOW '10 Proceedings of the 2010 Fourth IEEE International Conference on Self-Adaptive and Self-Organizing Systems Workshop
Effects of scale-free and small-world topologies on binary coded self-adaptive CEA
EvoCOP'06 Proceedings of the 6th European conference on Evolutionary Computation in Combinatorial Optimization
The balance between initial training and lifelong adaptation in evolving robot controllers
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
Testing diversity-enhancing migration policies for hybrid on-line evolution of robot controllers
EvoApplications'12 Proceedings of the 2012t European conference on Applications of Evolutionary Computation
The emergence of multi-cellular robot organisms through on-line on-board evolution
EvoApplications'12 Proceedings of the 2012t European conference on Applications of Evolutionary Computation
On-line evolution of controllers for aggregating swarm robots in changing environments
PPSN'12 Proceedings of the 12th international conference on Parallel Problem Solving from Nature - Volume Part II
Self-adapting fitness evaluation times for on-line evolution of simulated robots
Proceedings of the 15th annual conference on Genetic and evolutionary computation
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Imagine autonomous, self-sufficient robot collectives that can adapt their controllers autonomously and self-sufficiently to learn to cope with situations unforeseen by their designers. As one step towards the realisation of this vision, we investigate on-board evolutionary algorithms that allow robot controllers to adapt without any outside supervision and while the robots perform their proper tasks. We propose an evag-based on-board evolutionary algorithm, where controllers are exchanged among robots that evolve simultaneously. We compare it with the (μ+1) on-line algorithm, which implements evolutionary adaptation inside a single robot. We perform simulation experiments to investigate algorithm performance and use parameter tuning to evaluate the algorithms at their best possible parameter settings. We find that distributed on-line on-board evolutionary algorithms that share genomes among robots such as our evag implementation effectively harness the pooled learning capabilities, with an increasing benefit over encapsulated approaches as the number of participating robots grows.