Genetic programming: on the programming of computers by means of natural selection
Genetic programming: on the programming of computers by means of natural selection
Building agent teams using an explicit teamwork model and learning
Artificial Intelligence - Special issue on Robocop: the first step
Multiagent Systems: A Survey from a Machine Learning Perspective
Autonomous Robots
ECML '00 Proceedings of the 11th European Conference on Machine Learning
RoboCup-98: Robot Soccer World Cup II
The CMUnited-98 Champion Simulator Team
RoboCup-98: Robot Soccer World Cup II
Team-Partitioned, Opaque-Transition Reinforced Learning
RoboCup-98: Robot Soccer World Cup II
RoboCup-98: Robot Soccer World Cup II
Evolving teamwork and coordination with genetic programming
GECCO '96 Proceedings of the 1st annual conference on Genetic and evolutionary computation
Journal of Artificial Intelligence Research
The RoboCup synthetic agent challenge 97
IJCAI'97 Proceedings of the 15th international joint conference on Artifical intelligence - Volume 1
A Puzzle to Challenge Genetic Programming
EuroGP '02 Proceedings of the 5th European Conference on Genetic Programming
Cooperative Multi-Agent Learning: The State of the Art
Autonomous Agents and Multi-Agent Systems
Emergence of Cooperation: State of the Art
Artificial Life
Reward allotment in an event-driven hybrid learning classifier system for online soccer games
Proceedings of the 8th annual conference on Genetic and evolutionary computation
Investigating scaling of an abstracted LCS utilising ternary and s-expression alphabets
Proceedings of the 9th annual conference companion on Genetic and evolutionary computation
Hierarchical genetic programming based on test input subsets
Proceedings of the 9th annual conference on Genetic and evolutionary computation
Investigating Scaling of an Abstracted LCS Utilising Ternary and S-Expression Alphabets
Learning Classifier Systems
A survey and taxonomy of performance improvement of canonical genetic programming
Knowledge and Information Systems
Self-adaptive focusing of evolutionary effort in hierarchical genetic programming
CEC'09 Proceedings of the Eleventh conference on Congress on Evolutionary Computation
Layered learning in boolean GP problems
EuroGP'07 Proceedings of the 10th European conference on Genetic programming
The performance of a selection architecture for genetic programming
EuroGP'08 Proceedings of the 11th European conference on Genetic programming
An efficient evolutionary algorithm for solving incrementally structured problems
Proceedings of the 13th annual conference on Genetic and evolutionary computation
Emergent cooperation in robocup: a review
RoboCup 2005
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We present an alternative to standard genetic programming (GP) that applies layered learning techniques to decompose a problem. GP is applied to subproblems sequentially, where the population in the last generation of a subproblem is used as the initial population of the next subproblem. This method is applied to evolve agents to play keep-away soccer, a subproblem of robotic soccer that requires cooperation among multiple agents in a dynnamic environment. The layered learning paradigm allows GP to evolve better solutions faster than standard GP. Results show that the layered learning GP outperforms standard GP by evolving a lower fitness faster and an overall better fitness. Results indicate a wide area of future research with layered learning in GP.