On-line, On-board Evolution of Robot Controllers

Nicolas Bredeche 1, 2, 3 Evert Haasdijk 4 A.E. Eiben 4
1 TANC - Algorithmic number theory for cryptology
LIX - Laboratoire d'informatique de l'École polytechnique [Palaiseau], Inria Saclay - Ile de France
3 TAO - Machine Learning and Optimisation
CNRS - Centre National de la Recherche Scientifique : UMR8623, Inria Saclay - Ile de France, UP11 - Université Paris-Sud - Paris 11, LRI - Laboratoire de Recherche en Informatique
Abstract : This paper reports on a feasibility study into the evolution of robot controllers during the actual operation of robots (on-line), using only the computational resources within the robots themselves (on-board). We identify the main challenges that these restrictions imply and propose mechanisms to handle them. The resulting algorithm is evaluated in a hybrid system, using the actual robots' processors interfaced with a simulator that represents the environment. The results show that the proposed algorithm is indeed feasible and the particular problems we encountered during this study give hints for further research.
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Nicolas Bredeche, Evert Haasdijk, A.E. Eiben. On-line, On-board Evolution of Robot Controllers. Evolution Artificielle / Artificial Evolution, 2009, Strasbourg, France. ⟨inria-00413259⟩

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