Evolution and Development of Modular Control Architectures for 1D Locomotion in Six-legged Animats

Connection Science

Volumn 10, Issue 3-4, 1998, Pages 211-237

  Kodjabachian, Jérôme ^a   Meyer, Jean Arcady ^a  

^a SORBONNE UNIVERSITÉ   (France)

Author keywords

Development; Dynamical neural networks; Evolution; Hexapod locomotion; SGOCE

Indexed keywords

EID: 0032283945     PISSN: 09540091     EISSN: None     Source Type: Journal    
DOI: 10.1080/095400998116413     Document Type: Article

References (47)

1. Beer, R.D. (1995) On the dynamics of small continuous-time recurrent neural networks. Adaptive Behavior, 3, 469-510.
2. Beer, R.D. (1996) Toward the evolution of dynamical neural networks for minimally cognitive behavior. In P. Maes, M.J. Mataric, J.-A. Meyer, J.B. Pollack & S.W. Wilson (Eds), From Animals to Animats 4. Proceedings of the Fourth International Conference on Simulation of Adaptive Behavior, pp. 421-429. Cambridge, MA: MIT Press/Bradford Books.
3. Beer, R. & Gallagher, J. (1992) Evolving dynamical neural networks for adaptive behavior. Adaptive Behavior, 1, 91-122
4. Boers, E. & Kuiper, H. (1992) Biological Metaphors ana the Design of Modular Artificial Neural Networks. Master's thesis, Department of Computer Science and Experimental and Theoretical Psychology, Leiden University.
5. Brooks, R.A. (1989) A robot that walks: emergent behavior form a carefully evolved network. Neural Computation, 1, 253-262.
6. Bull, L., Fogarty, T.C. & Snaith, M. (1995) Evolution in multi-agent systems: evolving communicating classifier systems for gait in a quadrupedal robot. In L.J. Eshelman (Ed.), Proceedings of the Sixth International Conference on Genetic Algorithms, pp. 382-388. San Mateo, CA: Morgan Kaufmann.
7. Cangelosi, A., Parisi, D. & Nolfi, S. (1994) Cell division and migration in a 'genotype' for neural networks. Network, 5, 497-515.
8. Chavas, J., Corne, C., Horvai, P., Kodjabachian, J. & Meyer, J.A. (1998) Incremental evolution of neural controllers for robust obstacle-avoidance in khepera. In P. Husbands & J.-A. Meyer (Eds), EvoRobot'98: Proceedings of the First European Workshop on Evolutionary Robotics. Berlin: Springer-Verlag.
9. Cliff, D., Harvey, I. & Husbands, P. (1993) Explorations in evolutionary robotics. Adaptive Behavior, 2, 73-110.
10. Cliff, D. & Miller, G.F. (1996) Co-evolution of pursuit and evasion ii: simulation methods and results. In P. Maes, M.J. Mataric, J.-A. Meyer, J. B. Pollack & S.W. Wilson (Eds), From Animals to Animats 4. Proceedings of the Fourth International Conference on Simulation of Adaptive Behavior. Cambridge, MA: MIT Press/Bradford Books.
11. Dawkins, R. (1986) The Blind Watchmaker. Essex: Longman Scientific & Technical.
12. de Garis, H. (1991a) Genetic Programming: GenNets, Artificial Nervous Systems, Artificial Embryos. PhD thesis, Université Libre de Bruxelles, Belgium.
13. de Garis, H. (1991b) Steerable GenNets: the genetic programming of steerable behaviors in GenNets. In P. Bourgine & F.J. Varela (Eds), Toward a Practice of Autonomous Systems. Proceedings of the First European Conference on Artificial Life, pp. 272-281. Cambridge, MA: MIT Press.
14. Delcomyn, F. (1985) Factors regulating insect walking. Annual Review of Entomology, 30, 239-256.
15. Dellaert, F. & Beer, R. (1994) Toward an evolvable model of development for autonomous agent synthesis. In R.A. Brooks & P. Maes (Eds), Proceedings of the Fourth International Workshop on Artificial Life. Cambridge, MA: MIT Press/Bradford Books.
16. Filliat, D. (1998) Evolution de Réseaux de Neurones pour le Contrôle d'un Robot Hexapode. Technical Report, AnimatLab, ENS, Paris.
17. Goldberg, D.E. (1989) Genetic Algorithms in Search, Optimization and Machine Learning. Reading, MA: Addison-Wesley.
18. Gomi, T. & Ide, K. (1997) Emergence of gaits of a legged robot by collaboration through evolution. In Proceedings of the International Symposium on Artifical Life and Robotics. Berlin: Springer-Verlag.
19. Gruau, F. (1994a) Automatic definition of modular neural networks. Adaptive Behavior, 3, 151-184.
20. Gruau, F. (1994b) Synthèse de Réseaux de Neurones par Codage Cellulaire et Algorithmes Génétiques. Thèse d'université, ENS Lyon, Université Lyon I.
21. Gruau, F. (1996) Artificial cellular development in optimization and compilation. In E. Sanchez & M. Tomassini (Eds), Toward Evolutionary Hardware. The evolutionary engineering approach. Berlin: Springer-Verlag.
22. Gruau, F. & Quatramaran, K. (1996) Cellular Encoding for Interactive Evolutionary Robotics. Technical Report, University of Sussex, School of Cognitive Sciences, EASY Group, Brighton.
23. Harvey, I., Husbands, P. & Cliff, D. (1994) Seeing the light: artifical evolution, real vision. In D. Cliff, P. Husbands, J.-A. Meyer & S.W. Wilson (Eds), From Animals to Animats 3. Proceedings of the Third International Conference on Simulation of Adaptive Behavior, pp. 392-401. Cambridge, MA: MIT Press/Bradford Books.
24. Husbands, P., Harvey, I. & Cliff, D.T. (1993) Analysing recurrent dynamical networks evolved for robot control. In Proceedings of the Third IEE International Conference on Artificial Neural Networks. London: IEE Press.
25. Jakobi, N. (1998) Running across the reality gap: octopod locomotion evolved in a minimal simulation. In P. Husbands & J.-A. Meyer (Eds), EvoRobot'98: Proceedings of the First European Workshop on Evolutionary Robotics. Berlin: Springer-Verlag.
26. Kandel, E.R., Schwartz, J.H. & Jessell, T.M. (1991) Principles of Neural Science, Chapter 36, 3rd Edn. Englewood Cliffs: Prentice Hall.
27. Kodjabachian, J. (1996) Simulating the Dynamics of a Six-legged Animat. Technical Report, AnimatLab, ENS, Paris.
28. Kodjabachian, J. (1998) Développement et Évolution de Réseaux de Neurones Artificiels: Application au Contrôle d'un Animat Hexapode. Thèse de l'université Paris 6.
29. Kodjabachian, J. & Meyer, J.-A. (1995) Evolution and development of control architectures in animats. Robotics and Autonomous Systems, 16, 161-182.
30. Kodjabachian, J. & Meyer, J.-A. (1997) Apprentissage, développement et évolution des animats. In A.A. Cherif (Ed.), Intelligence Artificielle et Complexité. Paris: Presses de l'Université Paris 8.
31. Kodjabachian, J. & Meyer, J.-A. (1998) Evolution and development of neural networks controlling locomotion, gradient-following, and obstacle-avoidance in artificial insects. IEEE Transactions on Neural Networks, 9.
32. Koza, J. (1992) Genetu Programming: On the Programming of Computers by Means of Natural Selection. Cambridge, MA: MIT Press.
33. Koza, J. (1994) Genetic Programming II: Automatic Discovery of Reusable Subprograms. Cambridge, MA: MIT Press.
34. Koza, J.R. & Rice, J.P. (1991) Genetic generation of both the weights and architecture for neural networks. In IEEE International Joint Conference on Neural Networks, pp. II-397-II-404.
35. Lee, W.-P., Hallam, J. & Lund, H.H. (1997) Applying genetic programming to evolve behavior primitives and arbitrators for mobile robots. In Proceedings of the Fourth IEEE International Conference on Evolutionary Computation.
36. Lewis, M.A., Fagg, A.H., & Solidum, A. (1992) Genetic programming approach to the construction of a neural network for control of a walking robot. In IEEE International Conference on Robotics and Automation, pp. 2618-2623. Nice, France.
37. Lucas, S.M. (1996) Evolving neural network learning behaviours with set-based chromosomes. In Proceedings of the Fourth European Symposium on Artificial Neural Networks. Brussels: D Facto Publications.
38. Matarić, M. & Cliff, D. (1996) Challenges in evolving controllers for physical robots. Robotics and Autonomous Systems, 19, 67-83.
39. Meyer, J.-A. (1997) From natural to artificial life: biomimetic mechanisms in animat design. Robotics and Autonomous Systems, 22, 3-21.
40. Meyer, J.-A. & Guillot, A. (1994) From SAB90 to SAB94: four years of animat research. In D. Cliff, P. Husbands, J.-A. Meyer & S.W. Wilson (Eds), From Animals to Animats 3. Proceedings of the Third International Conference on Simulation of Adaptive Behavior. Cambridge, MA: MIT Press/ Bradford Books.
41. Montana, D.J. (1995) Strongly typed genetic programming. Evolutionary Computation, 3, 199-230.
42. Reynolds, C.W. (1994) Evolution of corridor following behavior in a noisy world. In D. Cliff, P. Husbands, J.-A. Meyer & S.W. Wilson (Eds), From Animals to Animats 3. Proceedings of the Third International Conference on Simulation of Adaptive Behavior, pp. 402-410. Cambridge, MA: MIT Press/Bradford Books.
43. Sims, K. (1994a) Evolving virtual creatures. In Computer Graphics Proceedings, pp. 43-50.
44. Sims, K. (1994b) Evolving 3D morphology and behavior by competition. In R.A. Brooks & P. Maes (Eds), Proceedings of the Fourth International Workshop on Artificial Life. Cambridge, MA: MIT Press/ Bradford Books.
45. Spencer, G. (1994) Automatic generation of programs for crawling and walking. In K.E. Kinnear, Jr (Ed.), Advances in Genetic Programming, pp. 335-353. Cambridge, MA: MIT Press/Bradford Books.
46. Vaario, J. (1993) An Emergent Modeling Method for Artificial Neural Networks. PhD thesis, University of Tokyo.
47. Yamauchi B. & Beer, R. (1994) Integrating reactive, sequential, and learning behavior using dynamical neural networks. In D. Cliff, P. Husbands, J.-A. Meyer & S.W. Wilson (Eds), From Animals to Animats 3. Proceedings of the Third International Conference on Simulation of Adaptive Behavior, pp. 382-391. Cambridge, MA: MIT Press/Bradford Books.