Vascular Morphogenesis Controller: A Generative Model For Developing Morphology of Artificial Structures

Payam Zahadat, Daniel Nicolas Hofstadler, Thomas Schmickl
Genetic and Evolutionary Computation Conference (GECCO 2017), Berlin, Germany (2017)


Morphology of an articial structure can be designed beforehand or it can be developed over time via interactions between dierent parts of the structure. Since structures are supposed to sustain and act in their surrounding environments, a successful generative process needs to consider both the global and local eects of environment during morphogenesis. As in their biological counterparts, many morphogenesis models are distributed over the growing structure. In this paper, a novel distributed model, called Vascular Morphogenesis Controller (VMC), is introduced by getting inspiration from branching mechanisms in plants where every branch of a plant acts as an autonomous agent competing with the other agents for a larger share of the resources for growth. To the best of our knowledge, this is the rst explicit use of distribution of limited resources in morphogenesis process of articial structures. The model is used here for growing a simulated modular robot designed based on a physical robot. The parameters of the model are successfully evolved to direct the growth of the robots in different environmental conditions demonstrating the usability of the model despite the simplicity of its logic.

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