Modifying Neuro Evolution For Mobile Robotic Behavior Development

Sekou Remy; Ashraf Saad

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Paper

Modifying Neuro Evolution For Mobile Robotic Behavior Development

In Proceedings of the 1st International Workshop on Multi-Agent Robotic Systems - Volume 0ICINCO, 155-164, 2005 , Barcelona, Spain

Authors: Sekou Remy and Ashraf Saad

Affiliation: School of Electrical and Computer Engineering, Georgia Institute of Technology, United States

Abstract: This work examines the effect of two modifications of typical approaches to evolving neuro controllers for robotic behaviors. First evolutionary methods were constrained to modify only one element of the population, the only element to be evaluated in the robot. Secondly the algorithm was allowed to incorporate genotypes provided by external sources. These modifications were evaluated through the use of a mobile robot simulator. Each was allowed to evolve in an arena that allowed it to interact with other robots. Experiments were conducted to investigate the effect of sharing genotypes and their corresponding fitness among homogeneous robots - the robots differed only in the initial random phenotype. The experiments showed that the ability to incorporate successful genotypes from others increased the rate at which evolution progressed. Communication of good genotypes allowed behaviors to get fitter faster, and made small initial population sizes feasible.

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Paper citation in several formats:

Remy, S. and Saad, A. (2005). Modifying Neuro Evolution For Mobile Robotic Behavior Development. In Proceedings of the 1st International Workshop on Multi-Agent Robotic Systems (ICINCO 2005) - MARS; ISBN 972-8865-34-1, SciTePress, pages 155-164. DOI: 10.5220/0001192901550164

@conference{mars05,
author={Sekou Remy. and Ashraf Saad.},
title={Modifying Neuro Evolution For Mobile Robotic Behavior Development},
booktitle={Proceedings of the 1st International Workshop on Multi-Agent Robotic Systems (ICINCO 2005) - MARS},
year={2005},
pages={155-164},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001192901550164},
isbn={972-8865-34-1},
}

TY - CONF

JO - Proceedings of the 1st International Workshop on Multi-Agent Robotic Systems (ICINCO 2005) - MARS
TI - Modifying Neuro Evolution For Mobile Robotic Behavior Development
SN - 972-8865-34-1
AU - Remy, S.
AU - Saad, A.
PY - 2005
SP - 155
EP - 164
DO - 10.5220/0001192901550164
PB - SciTePress