Coevolution of Form and Function in the Design of Micro Air Vehicles

Authors:
Magdalena D. Bugajska;Alan C. Schultz
Affiliations:
-;-
Venue:
EH '02 Proceedings of the 2002 NASA/DoD Conference on Evolvable Hardware (EH'02)
Year:
2002

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Abstract

This paper discusses approaches to cooperative coevolution of form and function for autonomous vehicles, specifically evolving morphology and control for an autonomous micro air vehicle (MAV). The evolution of a sensor suite with minimal size, weight, and powerrequirements, and reactive strategies for collision-free navigation for the simulated MAV is described. Results are presented for several different coevolutionary approaches to evolution of form and function (single- and multiple-species models) and for two different controlarchitectures (a rulebase controller based on the SAMUEL learning system and a neural network controller implemented and evolved using ECkit).