Evolving Robot Controllers for Structured Environments Through Environment Decomposition
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Evolving Robot Controllers for Structured Environments Through Environment Decomposition. / Moreno, Rodrigo; Faiña, Andres; Støy, Kasper.
Applications of Evolutionary Computation: 18th European Conference, EvoApplications 2015, Copenhagen, Denmark, April 8-10, 2015, Proceedings. Vol. 9028 Springer International Publishing, Switzerland, 2015. p. 795-806 (Lecture Notes in Computer Science).Research output: Conference Article in Proceeding or Book/Report chapter › Article in proceedings › Research › peer-review
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TY - GEN
T1 - Evolving Robot Controllers for Structured Environments Through Environment Decomposition
AU - Moreno, Rodrigo
AU - Faiña, Andres
AU - Støy, Kasper
PY - 2015
Y1 - 2015
N2 - 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.
AB - 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.
KW - Evolutionary robotics
KW - Environment decomposition
KW - Sequential evolution
M3 - Article in proceedings
SN - 978-3-319-16548-6
VL - 9028
T3 - Lecture Notes in Computer Science
SP - 795
EP - 806
BT - Applications of Evolutionary Computation
PB - Springer International Publishing, Switzerland
T2 - Evolutionary Computation in Robotics
Y2 - 8 April 2015 through 10 April 2015
ER -
ID: 80288902