Design and control of a mobil robot with an articulated body
International Journal of Robotics Research
SIGGRAPH '94 Proceedings of the 21st annual conference on Computer graphics and interactive techniques
How the Body Shapes the Way We Think: A New View of Intelligence (Bradford Books)
How the Body Shapes the Way We Think: A New View of Intelligence (Bradford Books)
Evolving coordinated quadruped gaits with the HyperNEAT generative encoding
CEC'09 Proceedings of the Eleventh conference on Congress on Evolutionary Computation
On-line, on-board evolution of robot controllers
EA'09 Proceedings of the 9th international conference on Artificial evolution
HyperNEAT for locomotion control in modular robots
ICES'10 Proceedings of the 9th international conference on Evolvable systems: from biology to hardware
Real-time neuroevolution in the NERO video game
IEEE Transactions on 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
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In this paper, we present the results of the tests we have performed with different encoding strategies for evolving controllers for a snake-like robot. This study is aimed at finding the best encoding for on-line learning of basic skills, such as locomotion (both free and directed to an objective) and obstacle avoidance. The snake moves in a virtual world, which realistically simulates all the physical conditions of the real world. This is the first step of our research on on-line, embedded and open-ended evolution of robot controllers, where robots have to learn how to survive during their lifetime, and occasionally mate with other robots. A simple (1+1) evolutionary strategy has been adopted for lifetime learning. The results of the tests have shown that the best results, tested on the locomotion skills, is the 'He1Sig' controller, that uses a different set of parameters for each segment of the snake but only one mutation rate, common to all parameters, that is encoded in the chromosome and therefore undergoes evolution itself.