Computer Science – Neural and Evolutionary Computing
Scientific paper
2010-06-25
Proceedings of the 9th International Conference on Artificial Evolution (EA 09), LNCS 5975, Strasbourg, France, 2010, p 122-13
Computer Science
Neural and Evolutionary Computing
12 pages, 3 figures, 2 tables, 9th International Conference on Artificial Evolution (EA 09),
Scientific paper
This paper demonstrates that a set of behaviours evolved in simulation on a miniature robot (epuck) can be transferred to a much larger scale platform (a virtual Pioneer P3-DX) that also differs in shape, sensor type, sensor configuration and programming interface. The chosen architecture uses a reinforcement learning-assisted genetic algorithm to evolve the epuck behaviours, which are encoded as a genetic sequence. This sequence is then used by the Pioneers as part of an adaptive, idiotypic artificial immune system (AIS) control architecture. Testing in three different simulated worlds shows that the Pioneer can use these behaviours to navigate and solve object-tracking tasks successfully, as long as its adaptive AIS mechanism is in place.
Aickelin Uwe
Garibaldi Jonathan M.
Whitbrook Amanda
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