Evolution of homing navigation in a real mobile robot

IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics

Volumn 26, Issue 3, 1996, Pages 396-407

  Floreano, Dario ^a   Mondada, Francesco ^b  

^a Laboratory of Cognitive Technology ^*  (Italy)

^b EPFL   (Switzerland)

Author keywords

[No Author keywords available]

Indexed keywords

COMPUTER SIMULATION; CONSTRAINT THEORY; DISCRETE TIME CONTROL SYSTEMS; INTELLIGENT CONTROL; MOTION PLANNING; NAVIGATION; NEURAL NETWORKS;

BATTERY CHARGER; FITNESS FUNCTION; HOMING NAVIGATION; NEURAL TOPOGRAPHIC MAP; ROBOT CONTROL;

MOBILE ROBOTS;

EID: 0030165955     PISSN: 10834419     EISSN: None     Source Type: Journal    
DOI: 10.1109/3477.499791     Document Type: Article

References (66)

1. M. Abeles, Corticonics. Cambridge: Cambridge Univ. Press, 1991.
2. D. H. Ackley and M. L. Littman, "Interactions between learning and evolution," in Artificial Life II: Proceedings Volume of Santa Fe Conference, Series of the Santa Fe Institute Studies in the Sciences of Complexities, vol. XI, C. G. Langton, J. D. Partner, S. Rasmussen, and C. Taylor, Eds. Reading, MA: Addison Wesley, 1991.
3. P. J. Angelina, G. M. Saunders, and J. B. Pollack, "An evolutionary algorithm that constructs recurrent neural networks," IEEE Trans. Neural Networks, vol. 5, pp. 54-65, 1993.
4. W. Atmar, "Notes on the simulation of evolution," IEEE Trans. Neural Networks, vol. 5, pp. 130-148, 1993.
5. S. Baluja, "Evolution of an artificial neural network based autonomous land vehicle controller," IEEE Trans. Syst., Man, Cybern. B, this issue, pp. 450-463.
6. R. D. Beer, Intelligence as Adaptive Behavior: An Experiment in Computational Neuroethology. San Diego: Academic, 1990.
7. R. D. Beer and J. C. Gallagher, "Evolving dynamical neural networks for adaptive behavior," Adapt. Beh., vol. 1, pp. 91-122, 1992.
8. E. J. W. Boers and H. Kuiper, "Biological metaphors and the design of modular artificial neural networks," Tech. Rep. Master's Thesis, Dept. Computer Science, University of Leiden, The Netherlands, June 1992.
9. V. Braitenberg, Vehicles. Experiments in Synthetic Psychology. Cambridge, MA: MIT Press, 1984.
10. R. Brooks, "Artificial life and real robots," in Toward a Practice of Autonomous Systems: Proc. First Europ. Conf: on Artificial Life, 1992.
11. R. A. Brooks, "Elephants don't play chess," Robot. Auton. Syst., vol. 6, pp. 3-15, 1990.
12. _, "Intelligence without representation," Artif. Intell., vol. 47, pp. 139-59, 1991.
13. P. Cariani, "Emergence and Artificial Life," in Artificial Life II: Proc. Vol. of Santa Fe Conf., Series of the Santa Fe Institute Studies in the Sciences of Complexities, vol. XI, 1991.
14. D. Cliff, I. Harvey, and P. Husbands, "Incremental-evolution of neural architectures for adaptive behavior," Tech. Rep. CSRP 256, School of Cognitive, and Computing Science, University of Sussex, UK, Dec. 1992.
15. D. Cliff, I. Harvey, and P. Husbands, "Explorations in evolutionary robotics," Adapt Beh., vol. 2, pp. 73-110, 1993.
16. D. Cliff, P. Husbands, and I. Harvey, "Analysis of Evolved Sensory-Motor Controllers," Tech. Rep. CSRP 264, School of Cognitive and Computing Science, University of Sussex, UK, Dec. 1992.
17. D. T. Cliff, "Computational neuroethology: A provisional manifesto," in From Animals to Animats: Proc. First Int. Conf. on Simulation of Adaptive Behavior, 1991.
18. D. T. Cliff and S. G. Bullock, "Adding "foveai vision" to Wilson's animat," Adapt. Beh., vol. 2, pp. 49-72, 1993.
19. D. T. Cliff, P. Husbands, and I. Harvey, "Evolving visually guided robots," in From Animals to Animats II: Proc. Second Int. Conf. on Simulation of Adaptive Behavior, 1993.
20. M. Colombetti and M. Dorigo, "Learning to control an autonomous robot by distributed genetic algorithms," in From Animals to Animats II: Proc. Second Int. Conf. on Simulation of Adaptive Behavior, 1993.
21. M. Colombetti, M. Dorigo, and G. Borghi, "Behavior analysis and training: A methodology for behavior engineering," IEEE Trans. Syst., Man, Cybern. B, this issue, pp. 365-380.
22. M. Dorigo and U. Schnepf, "Genetic-based machine learning and behavior based robotics: A new synthesis," IEEE Trans. Syst., Man, Cybern., vol. 23, pp. 141-154, 1993.
23. J. L. Elman, "Finding structure in time," Cogn. Sci., vol. 14, pp. 179-211, 1990.
24. D. Floreano, "Emergence of home-based foraging strategies in ecosystems of neural networks," in From Animals to Animats II: Proc. Second Int. Conf. on Simulation of Adaptive Behavior, 1993.
25. D. Floreano and F. Mondada, "Automatic creation of an autonomous agent: Genetic evolution of a neural-network driven robot," in From Animals to Animals III: Proc. Third Int. Conf. on Simulation of Adaptive Behavior, 1994.
26. J. J. Gibson, The Ecological Approach to Visual Perception. Boston: Houghton Mifflin, 1979.
27. D. E. Goldberg, Genetic Algorithms in Search, Optimization and Machine Learning. Reading, MA: Addison-Wesley, 1989.
28. F. Gruau, "Genetic systems of Boolean neural networks with a cell rewriting developmental process," in Combination of Genetic Algorithms and Neural Networks, D. Whitley and J. D. Schaffer, Eds. Los Alamitos, CA: IEEE Computer Society Press, 1992.
29. S. A. Harp, T. Samad, and A. Guha, "Toward the genetic synthesis of neural networks," in Proc. Third Int. Conf. on Genetic Algorithms, 1989.
30. I. Harvey, P. Husbands, and D. Cliff, "Issues in Evolutionary Robotics," in From Animals to Animats II: Proc. Second Int. Conf. on Simulation of Adaptive Behavior, 1993.
31. I. Harvey, P. Husbands, and D. Cliff, "Seeing the light: Artificial evolution, real vision," in From Animals to Animats III: Proc. Third Int. Conf. on Simulation of Adaptive Behavior, 1994.
32. G. E. Hinton and S. J. Nowlan, "How learning can guide evolution," Complex Syst., vol. 1, pp. 495-502, 1987.
33. J. H. Holland, Adaptation in Natural and Artificial Systems. Ann Arbor, MI: The Univ. of Michigan Press, 1975.
34. P. Husbands, I. Harvey, and D. Cliff, "Analysing recurrent dynamical networks evolved for robot control," Tech. Rep. CSRP 265, School of Cognitive and Computing Science, University of Sussex, UK, Jan. 1993.
35. P. Husbands, I. Harvey, D. Cliff, and G. Miller, "The use of genetic algorithms for the development of sensorimotor control systems," in Proc. Conf. From Perception to Action, 1994.
36. H. Kitano, "Designing neural networks using genetic algorithms with graph generation system," Complex Syst., vol. 4, pp. 461-476, 1990.
37. J. R. Koza, Genetic Programming: On the Programming of Computers by Means of Natural Selection. Cambridge, MA: MIT Press, 1992.
38. J. R. Koza, J. P. Rice, and J. Roughgarden, "Evolution of food-foraging strategies for the Caribbean Anolis lizard using genetic programming," Adapt. Beh., vol. 1, pp. 171-199, 1992.
39. H. H. Lund and D. Parisi, "Simulations with an evolvable fitness formula," Tech. Rep. 94-01, Inst. Psychology, CNR, Feb. 1994.
40. P. Maes, "Behavior-based artificial intelligence," in From Animals to Animats II: Proc. Second Int. Conf. on Simulation of Adaptive Behavior, 1993.
41. V. Maniezzo, "Genetic evolution of the topology and weight distribution of neural networks," IEEE Trans. Neural Networks, vol. 5, pp. 39-53, 1993.
42. D. J. McFarland, "Autonomy and self-sufficiency in robots," AI-Memo 92-03, Artificial Intelligence Laboratory, Vrije Universiteit Brussel, Belgium, 1992.
43. L. Meeden, "Developing neural network controllers for robots," IEEE Trans. Syst., Man. Cybern., this, issue, pp. 474-485.
44. O. Miglino, C. Nafasi, and C. Taylor, "Selection for wandering behavior in a small robot," Tech. Rep. UCLA-CRSP-94-01, Department of Cognitive Science, UCLA, Jan. 1994.
45. F. Mondada, E. Franzi, and P. Ienne, "Mobile robot miniaturization: A tool for investigation in control algorithms," in Proc. Third Int. Symp. on Experimental Robotics, Kyoto, Japan, 1993.
46. D. Montana and L. Davis, "Training feed forward neural networks using genetic algorithms," in Proc. Eleventh Int. Joint Conf. on Artificial Intelligence, San Mateo, CA, Morgan Kaufmann, 1989.
47. S. Nolfi, J. L. Elman, and D. Parisi, "Learning and evolution in neural networks," Adapt. Beh., vol. 3, pp. 5-28, 1994.
48. S. Nolfi, D. Floreano, O. Miglino, and F. Mondada, "How to evolve autonomous robots: Different approaches in evolutionary robotics," in Proc. Fourth Workshop on Artificial Life, 1994.
49. S. Nolfi, O. Miglino, and D. Parisi, "Phenotipic plasticity in evolving neural networks," in Proc. Conf. From Perception to Action, 1994.
50. J. O'Kcefe and L. Nadel, The Hippocampus as a Cognitive Map. Oxford: Clarendon, 1978.
51. D. Parisi, F. Cecconi, and S. Nolfi, "Econets: Neural networks that learn in an environment," Network, vol. 1, pp. 149-168, 1990.
52. M. J. Patel, "Situation assessment and adaptive learning: Theoretical and experimental issues," in Proc. Second Int. Round-Table on Abstract Intelligent Agents, Rome, 1994, ERCIM Res. Rep. 03/94-R030 CNR.
53. T. S. Ray, "An approach to the synthesis of life," in Artificial Life II: Proc. Vol. of Santa Fe Conf., vol. XI, Series of the Santa Fe Institute Studies in the Sciences of Complexities, 1991.
54. I. Rechenberg, Evolutionstrategie: Optimierung Technischer Systeme nach Prinzipien der biologischen Evolution. Stuttgart: Verlag, 1973.
55. C. W. Reynolds, "An evolved, vision-based behavioral model of coordinated group motion," in From Animals to Animats II: Proc. Second Int. Conf. on Simulation of Adaptive Behavior, 1993.
56. _, "Evolution of corridor following behavior in a noisy world," in From Animals to Animats III: Proc. Third Int. Conf. on Simulation of Adaptive Behavior, 1994.
57. M. M. Rizki and M. Conrad, "Computing the theory of evolution," Physica, vol. 22D, pp. 83-99, 1986.
58. M. Rudnick, "A bibliography of the intersection of genetic search and artificial neural networks," Tech. Rep. CS/E 90-001, Dept. Computer Science and Engineering, Oregon Graduate Center, Portland, Jan. 1990.
59. J. D. Schaffer, D. Whitley, and L. J. Eshelman, "Combinations of genetic algorithms and neural networks: A survey of the state of the art," in Proc. Int. Workshop on the Combinations of Genetic Algorithms and Neural Networks (COGANN-92), 1992.
60. L. Steels, "Building agents out of autonomous behavior systems," in The "Artificial Life" Route to "Artificial Intelligence". Building Situated Embodied Agents, L. Steels and R. Brooks, Eds. New Haven: Lawrence Erlbaum, 1993.
61. L. Steels, "The artificial life roots of artificial intelligence," Artif. Life, vol. 1, pp. 75-110, 1994.
62. J. S. Taube, R. U. Muller, and J. B. Jr. Ranck, "Head-direction cells recorded from the postsubiculum in freely moving rats. I. Description and quantitative analysis," J. Neurosci., vol. 10, pp. 420-435, 1990.
63. E. C. Tolman, "Cognitive maps in rats and men," Psycholog. Rev., vol. 55, pp. 189-208, 1948.
64. A. Treves, O. Miglino, and D. Parisi, "Rats, nets, maps, and the emergence of place cells," Psychobiology, vol. 20, no. 1, pp. 1-8, 1992.
65. G. Weiss, "Combining neural and evolutionary learning: Aspects and approaches," Tech. Rep. FKI-132-90, Institut für Informatik, Technische Universität München, May 1990.
66. X. Yao, "A review of evolutionary artificial neural networks," Int. J. Intelligent Syst., vol. 4, pp. 203-222, 1993.