Adaptive Action Selection Mechanisms for Evolutionary Multimodular Robotics

Serge Kernbach, Thomas Schmickl, Heiko Hamann, Jürgen Stradner, Christopher S. F. Schwarzer, Florian Schlachter, Alan F.T. Winfield, Rene Matthias
Proceedings of the 12th International Conference on Artificial Life (Alife XII) (2010), 781-788


This paper focuses on the well-known problem in behavioral robotics - "what to do next". The problem addressed here lies in the selection of one activity to be executed from multiple regulative, homeostatic and developmental processes running onboard a reconfigurable multi-robot organism. We consider adaptive hardware and software frameworks and argue the non-triviality of action selection for evolutionary robotics. The paper overviews several deliberative, evolutionary and bio-inspired approaches for such an adaptive action selection mechanism.