Complex Behavior in Evolutionary Robotics by Lukas König

By Lukas König

This e-book examines 4 new methods for challenge fixing in evolutionary robotics and agent simulation. Of specific curiosity is a brand new strategy that imitates common evolution, permitting mutation and recombination operations to be tailored throughout the robot evolution procedure.

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There, the correct interpretation of sensory information, which is usually rapidly changing and impaired by interfering sensors of other robots, as well as the understanding of swarm dynamics on a theoretical level still involve many unresolved problems. A classic engineering approach for creating programs for a swarm of robots might involve (1) describing the swarm behavior as the result of interactions among individual behaviors, and (2) encoding the individual behaviors into controllers. While the second step is essentially the above-discussed problem of programming single robots, the first step contains additional complexity in decomposing a process that is a result of dynamical interactions among its sub-components.

However, reproductive fitness in natural evolution is an observable but (mostly) unchangeable property. Particularly, natural evolution by itself does not have an explicit target which it aims to, but its direction is solely dictated by interactions of individuals with their environment, and by the selection pressure established by these means. In contrast, explicit as well as (to a lesser extent) implicit fitness in ER can be designed to guide evolution in a certain direction. There, explicit fitness is often rather straight-forward to design (although possibly complicated to adjust) as, by the basic idea of ER, it captures properties that can be more easily encoded on a high level than programmed on a behavioral level.

The box on the right indicates how the theoretical work concerning robot evolution is experimentally evaluated using EAS and the robot platform Wanda. Throughout the thesis, a short abstract captioned “Preamble” precedes each chapter, providing an informal comment on the subjects to be treated. Rather than systematically summarizing a chapter, the abstract’s purpose is to classify a chapter’s most important idea or research question with regard to its implications within the scientific landscape and “the real world” — as perceived by the author.

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