Evolving a Novel Bio-Inspired Controller in Reconfigurable Robots

Jürgen Stradner, Heiko Hamann, Thomas Schmickl, Ronald Thenius, Karl Crailsheim
Proc. of the 10th European Conference on Artificial Life (ECAL'09) LNCS 5777 (2011), 132-139


Evolutionary robotics uses evolutionary computation to optimize
physically embodied agents. We present here a framework for performing
off-line evolution of a pluripotent robot controller that manages to
form multicellular robotic organisms from a swarm of autonomously
moving small robot modules. We describe our evolutionary framework,
show first results and discuss the advantages and disadvantages of our
off-line evolution approach. In detail, we explain the single parts of
the framework and a novel homeostatic hormone-based controller, which
is shaped by artificial evolution to control both, the non-aggregated
single robotic modules and the joined high-level robotic organisms. As
a first step we present results of this evolutionary shaped controller
showing the potential for different motion behaviours.


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