• English
    • Norsk
  • English 
    • English
    • Norsk
  • Administration
View Item 
  •   Home
  • Øvrige samlinger
  • Høstingsarkiver
  • CRIStin høstingsarkiv
  • View Item
  •   Home
  • Øvrige samlinger
  • Høstingsarkiver
  • CRIStin høstingsarkiv
  • View Item
JavaScript is disabled for your browser. Some features of this site may not work without it.

Overcoming initial convergence in multi-objective evolution of robot control and morphology using a two-phase approach

Nygaard, Tønnes Frostad; Samuelsen, Eivind; Glette, Kyrre
Journal article; AcceptedVersion; Peer reviewed
View/Open
nygaard-evorobot2017.pdf (7.361Mb)
Year
2017
Permanent link
http://urn.nb.no/URN:NBN:no-65453

CRIStin
1491902

Metadata
Show metadata
Appears in the following Collection
  • Institutt for informatikk [3608]
  • CRIStin høstingsarkiv [15962]
Original version
Lecture Notes in Computer Science. 2017, 10199 LNCS (Part I), 825-836, DOI: http://dx.doi.org/10.1007/978-3-319-55849-3_53
Abstract
Co-evolution of robot morphologies and control systems is a new and interesting approach for robotic design. However, the increased size and ruggedness of the search space becomes a challenge, often leading to early convergence with sub-optimal morphology-controller combinations. Further, mutations in the robot morphologies tend to cause large perturbations in the search, effectively changing the environment, from the controller’s perspective. In this paper, we present a two-stage approach to tackle the early convergence in morphology-controller co-evolution. In the first phase, we allow free evolution of morphologies and controllers simultaneously, while in the second phase we re-evolve the controllers while locking the morphology. The feasibility of the approach is demonstrated in physics simulations, and later verified on three different real-world instances of the robot morphologies. The results demonstrate that by introducing the two-phase approach, the search produces solutions which outperform the single co-evolutionary run by over 10%.

© 2017 Springer Verlag
 
Responsible for this website 
University of Oslo Library


Contact Us 
duo-hjelp@ub.uio.no


Privacy policy
 

 

For students / employeesSubmit master thesisAccess to restricted material

Browse

All of DUOCommunities & CollectionsBy Issue DateAuthorsTitlesThis CollectionBy Issue DateAuthorsTitles

For library staff

Login
RSS Feeds
 
Responsible for this website 
University of Oslo Library


Contact Us 
duo-hjelp@ub.uio.no


Privacy policy