Incremental Coevolution With Competitive and Cooperative Tasks in a Multirobot Environment
Incremental Coevolution With Competitive and Cooperative Tasks in a Multirobot Environment
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DOI：
10.1109/jproc.2006.876918
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发表时间：
2006-08
影响因子：
20.6
通讯作者：
E. Uchibe;M. Asada
中科院分区：
文献类型：
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作者：
E. Uchibe;M. Asada
协同进化作为一种同时开发多个智能体控制结构的方法，已经受到越来越多的关注。我们的最终目标是通过共同进化来共同发展技能。然而，共同进化过程往往倾向于采用次优策略。到目前为止，成功的共同进化的关键还不清楚。本文讨论了如何多个机器人可以出现合作和竞争行为，通过共同进化过程。为了实现成功的协同进化，我们提出了两种思想：多个增量进化计划和基于重要性抽样的适应度共享。为了研究这个问题，我们进行了一系列计算机模拟。我们选择了一个简化的足球比赛，由两个或三个机器人作为测试平台，分析的问题，其中既有竞争和合作的任务。我们表明，建议的适应度评估允许机器人在合作和竞争的情况下进化出鲁棒的行为
Coevolution has been receiving increased attention as a method for simultaneously developing the control structures of multiple agents. Our ultimate goal is the mutual development of skills through coevolution. The coevolutionary process is, however, often prone to settle into suboptimal strategies. The key to successful coevolution has thus far been unclear. This paper discusses how several robots can emerge cooperative and competitive behavior through coevolutionary processes. In order to realize successful coevolution, we propose two ideas: multiple schedules for incremental evolution and fitness sharing based on the method of importance sampling. To examine this issue, we conducted a series of computer simulations. We have chosen a simplified soccer game consisting of two or three robots as a testbed for analyzing a problem in which both competitive and cooperative tasks are involved. We show that the proposed fitness evaluation allows robots to evolve robust behaviors in cooperative and competitive situations