Embodied evolution: embodying an evolutionary algorithm in a population of robots
- 20 January 2003
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- Vol. 1, 335-342 Vol. 1
- https://doi.org/10.1109/cec.1999.781944
Abstract
We introduce Embodied Evolution (EE) as a methodology for the automatic design of robotic controllers. EE is an evolutionary robotics (ER) technique that avoids the pitfalls of the simulate-and-transfer method, allows the speed-up of evaluation time by utilizing parallelism, and is particularly suited to future work on multi-agent behaviors. In EE, an evolutionary algorithm is distributed amongst and embodied within a population of physical robots that reproduce with one another while situated in the task environment. We have built a population of eight robots and successfully implemented our first experiments. The controllers evolved by EE compare favorably to hand-designed solutions for a simple task. We detail our methodology, report our initial results, and discuss the application of EE to more advanced and distributed robotics tasks.Keywords
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