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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
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
3 TANC - Algorithmic number theory for cryptology
Inria Saclay - Ile de France, LIX - Laboratoire d'informatique de l'École polytechnique [Palaiseau]
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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https://hal.inria.fr/inria-00413357
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Submitted on : Tuesday, November 3, 2009 - 11:53:38 AM
Last modification on : Wednesday, September 16, 2020 - 5:04:13 PM
Long-term archiving on: : Thursday, June 30, 2011 - 11:47:38 AM

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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. ⟨inria-00413357⟩

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