Toward open-ended evolutionary robotics: evolving elementary robotic units able to self-assemble and self-reproduce
Toward open-ended evolutionary robotics: evolving elementary robotic units able to self-assemble and self-reproduce
复制标题
DOI：
10.1080/09540090412331314759
复制
发表时间：
2004-12-01
影响因子：
5.3
通讯作者：
Nolfi, S
中科院分区：
文献类型：
--
作者：
Bianco, R;Nolfi, S
在本文中，我们讨论了当前进化机器人模型的局限性，并提出了一个新的框架，可以解决其中一些问题并导致硬件中的开放式进化过程。更具体地说，本文描述了一种新颖的方法，其中人口、世代和适应度的常用概念都隐含在系统中。个体嵌入其环境中共同进化。利用（模拟）机器人的自组装能力，成功个体的基因型可以在人群中传播。这样，有趣的行为就会自发出现，导致追逐和躲避其他个体、集体避障以及自组装结构的协调运动。
In this paper, we discuss the limitations of current evolutionary robotics models and we propose a new framework that might solve some of these problems and lead to an open-ended evolutionary process in hardware. More specifically, the paper describes a novel approach where the usual concepts of population, generations and fitness are made implicit in the system. Individuals co-evolve embedded in their environment. Exploiting the self-assembling capabilities of the (simulated) robots, the genotype of a successful individual can spread in the population. In this way, interesting behaviours emerge spontaneously, resulting in chasing and evading other individuals, collective obstacle avoidance and co-ordinated motion of self-assembled structures.