Evolving Robot Controllers for Structured Environments Through Environment Decomposition

Rodrigo Moreno, Andres Faiña, Kasper Støy

Research output: Conference Article in Proceeding or Book/Report chapterArticle in proceedingsResearchpeer-review


In this paper we aim to develop a controller that allows a robot to traverse an structured environment. The approach we use is to decompose the environment into simple sub-environments that we use as basis for evolving the controller. Specifically, we decompose a narrow corridor environment into four different sub-environments and evolve controllers that generalize to traverse two larger environments composed of the sub-environments. We also study two strategies for presenting the sub-environments to the evolutionary algorithm: all sub-environments at the same time and in sequence. Results show that by using a sequence the evolutionary algorithm can find a controller that performs well in all sub-environments more consistently than when presenting all sub-environments together. We conclude that environment decomposition is an useful approach for evolving controllers for structured environments and that the order in which the decomposed sub-environments are presented in sequence impacts the performance of the evolutionary algorithm.
Original languageEnglish
Title of host publicationApplications of Evolutionary Computation : 18th European Conference, EvoApplications 2015, Copenhagen, Denmark, April 8-10, 2015, Proceedings
Number of pages12
PublisherSpringer International Publishing, Switzerland
Publication date2015
ISBN (Print)978-3-319-16548-6
ISBN (Electronic)978-3-319-16549-3
Publication statusPublished - 2015
EventEvolutionary Computation in Robotics - Copenhagen, Denmark
Duration: 8 Apr 201510 Apr 2015


ConferenceEvolutionary Computation in Robotics
OtherThe Leading European Event on Bio-Inspired Computation
Internet address
SeriesLecture Notes in Computer Science


  • Evolutionary robotics
  • Environment decomposition
  • Sequential evolution


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