Embedded Evolutionary Robotics: The (1+1)-Restart-Online Adaptation Algorithm

Jean-Marc Montanier 1, 2 Nicolas Bredeche 1, 2, 3
2 TAO - Machine Learning and Optimisation
LRI - Laboratoire de Recherche en Informatique, UP11 - Université Paris-Sud - Paris 11, Inria Saclay - Ile de France, CNRS - Centre National de la Recherche Scientifique : UMR8623
3 TANC - Algorithmic number theory for cryptology
LIX - Laboratoire d'informatique de l'École polytechnique [Palaiseau], Inria Saclay - Ile de France, X - École polytechnique, CNRS - Centre National de la Recherche Scientifique : UMR7161
Abstract : This paper deals with online onboard behavior optimization for an autonomous mobile robot in the scope of the European FP7 Symbrion Project. The work presented here extends the (1+1)-online algorithm introduced in earlier publication. This algorithm is a variation of a famous Evolution Strategies adapted to autonomous robots. In this paper, we address a limitation of this algorithm regarding the ability to perform global search whenever a local optimum is reached. A new implementation of the algorithm, termed (1+1)-restart-online algorithm, is described and implemented within the Symbrion robotic Cortex M3 microcontroller. Results from the experiments show that the new algorithm is able to escape local optima and, as a consequence, converge faster and provides a richer set of relevant controllers.
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Communication dans un congrès
Workshop on Exploring new horizons in Evolutionary Design of Robots at IROS 2009, 2009, Saint Louis, United States. pp.37-43, 2009
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Jean-Marc Montanier, Nicolas Bredeche. Embedded Evolutionary Robotics: The (1+1)-Restart-Online Adaptation Algorithm. Workshop on Exploring new horizons in Evolutionary Design of Robots at IROS 2009, 2009, Saint Louis, United States. pp.37-43, 2009. 〈inria-00413357〉

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