Multiobjectivity and complexity in embodied cognition

IEEE Transactions on Evolutionary Computation

Volumn 9, Issue 4, 2005, Pages 337-360

  Teo, Jason ^a   Abbass, Hussein A ^b  

^a UNIVERSITI MALAYSIA SABAH   (Malaysia)

^b UNIVERSITY OF NEW SOUTH WALES   (Australia)

Author keywords

Artificial life; Complexity; Embodied cognition; Evolutionary multiobjective optimization (EMO); Evolutionary robotics

Indexed keywords

COMPUTATIONAL COMPLEXITY; EVOLUTIONARY ALGORITHMS; OPTIMIZATION; ROBOTICS;

ARTIFICIAL LIFE; EMBODIED COGNITION; EVOLUTIONARY MULTIOBJECTIVE OPTIMIZATION (EMO); EVOLUTIONARY ROBOTICS;

ARTIFICIAL INTELLIGENCE;

EID: 24144440434     PISSN: 1089778X     EISSN: None     Source Type: Journal    
DOI: 10.1109/TEVC.2005.846902     Document Type: Review

References (105)

1. R. C. Arkin, Behavior-Based Robotics. Cambridge, MA: MIT Press, 1998.
2. R. A. Brooks, "Intelligence without reason," in The Artificial Life Route to Artificial Intelligence: Building Embodied, Situated Agents, L. Steels and R. Brooks, Eds. Hillsdale, NJ: Lawrence Erlbaum, 1995, ch. 2, pp. 25-81.
3. F. J. Varela, "The reenchantment of the concrete," in The Artificial Lift Route to Artificial Intelligence: Building Embodied, Situated Agents, L. Steels and R. Brooks, Eds. Hillsdale, NJ: Lawrence Erlbaum, 1995, ch. 1, pp. 11-22.
4. CM Labs. (2002). Vortex. [Online]. Available: http://www.cm-labs.com
5. C. Adami, Introduction to Artificial Life. Santa Clara, CA: Telos, 1998.
6. D. P. Feldman and J. P. Crutchfield, "Measures of statistical complexity: Why?," Phy. Lett. A, vol. 238, pp. 244-252, 1998.
7. R. K. Standish. (2001) On complexity and emergence. Complexity International 9. [Online]. Available: http://life.csu.edu.au/ci/vol09/ standi09/
8. R. Badii and A. Politi, Complexity: Hierarchical Structures and Scaling in Physics. Cambridge, U.K.: Cambridge Univ. Press, 1997.
9. B. Edmonds, "Syntactic measures of complexity," Ph.D. dissertation, Univ. Manchester, Manchester, U.K., 1999.
10. C. R. Shalizi, "Causal architecture, complexity and self-organization in time series and cellular automata," Ph.D. dissertation, Univ. Wisconsin at Madison, Madison, WI, 2001.
11. J. C. Bongard, "Evolving modular genetic regulatory networks," in Proc. Congr. Evol. Comput., 2002, pp. 1872-1877.
12. M. Komosinski and A. Rotaru-Varga, "Comparison of different genotype encodings for simulated three-dimensional agents," Artif. Life, vol. 7, no. 4, pp. 395-418, 2001.
13. G. S. Hornby and J. B. Pollack, "Body-brain coevolution using L-systems as a generative encoding," in Proc. Genetic Evol. Comput. Conf., L. Spector, E. Goodman, A. Wu, W. Langdon, H. Voight, M. Gen, S. Sen, M. Dorigo, S. Pezeshk, M. Garzon, and E. Burke, Eds., San Francisco, CA, 2001, pp. 868-875.
14. S. Nolfi and D. Floreano, Evolutionary Robotics: The Biology, Intelligence, and Technology of Self-Organizing Machines. Cambridge, MA: MIT Press/Bradford Books, 2000.
15. R. Pfeifer and C. Scheier, Understanding Intelligence. Cambridge, MA: MIT Press, 1999.
16. G. S. Hornby and J. B. Pollack, "Creating high-level components with a generative representation for body-brain evolution," Artif. Life, vol. 8, no. 3, pp. 223-246, 2002.
17. H. Lipson and J. B. Pollack, "Automatic design and manufacture of robotic lifeforms," Nature, vol. 406, pp. 974-978, 2000.
18. P. C. Leger, "Automated synthesis and optimization of robot configurations: An evolutionary approach," Ph.D. dissertation, Carnegie Mellon Univ., Philadelphia, PA, 1999.
19. M. Komosinski and A. Rotaru-Varga, "From directed to open-ended evolution in a complex simulation model," in Proc. 7th Int. Conf. Simulation Synthesis Living Syst.: Artif. Life VII, M. Bedau, J. McCaskill, N. Packard, and S. Rasmussen, Eds., 2000, pp. 293-299.
20. D. Floreano and J. Urzelai, "Evolution and learning in autonomous mobile robots," in Bio-Inspired Computing Machines: Toward Novel Computational Architectures, 1st ed, D. Mange and M. Tomassini, Eds. Lausanne, Switzerland: Presses Polytechniques Et Universitaires Romandes, 1998, ch. 12, pp. 317-364.
21. S. Nolfi and D. Floreano, "Learning and evolution," Autonomous Robots, vol. 7, no. 1, pp. 89-113, 1999.
22. R. Pfeifer, "On the role of morphology and materials in adaptive behavior," in Proc. 6th Int. Conf. Simulation Adapt. Behav.: From Animals to Animals 6, J.-A. Meyer, A. Berthoz, D. Floreano, H. Roitblat, and S. Wilson, Eds., Cambridge, MA, 2000, pp. 23-32.
23. D. Floreano and J. Urzelai, "Evolutionary robotics: The next generation," in Proc. 7th Int. Symp. Evol. Robotics: From Intell. Robots Artif. Life, T. Gomi, Ed., ON, Canada, 2000, pp. 231-266.
24. C. D. Rosin and R. K. Belew, "New methods for competitive coevolution," Evol. Comput., vol. 5, no. 1, pp. 1-29, 1997.
25. D. W. Hillis, "Coevolving parasites improve simulated evolution as an optimization procedure," in Proc. 2nd Int. Workshop Synthesis Simulation Living Syst.: Artif. Life II, C. Langton, C. Taylor, J. Farmer, and S. Rasmussen, Eds., Redwood City, CA, 1992, pp. 313-324.
26. P. J. Angeline and J. B. Pollack, "Competitive environments evolve better solutions for complex tasks," in Proc. 5th Int. Conf. Genetic Algorithms, S. Forest, Ed., 1993, pp. 264-270.
27. D. Cliff and G. F. Miller, "Coevolution of pursuit and evasion II: Simulation methods and results," in Proc. 4th Int. Conf. Simulation Adapt. Beh.: From Animals to Animals 4, P. Maes, M. Mataric, J.-A. Meyer, I. Pollack, and S. Wilson, Eds., 1996, pp. 506-515.
28. D. Floreano, S. Nolfi, and F. Mondada, "Coevolution and ontogenetic change in competing robots," in Advances in the Evolutionary Synthesis of Intelligent Agents, M. Patel, V. Honavar, and K. Balakrishnan, Eds. Cambridge, MA: MIT Press, 2001, pp. 273-306.
29. P. Husbands and F. Mill, "Simulated coevolution as the mechanism for emergent planning and scheduling," in Proc. 4th Int. Conf. Genetic Algorithms, R. K. Belew and L. B. Booker, Eds., 1991, pp. 264-270.
30. J. Paredis, "The symbiotic evolution of solutions and their representation," in Proc. 6th Int. Conf. Genetic Algorithms, L. Eshelman, Ed., 1995, pp. 359-365.
31. M. A. Potter and K. A. De Jong, "Cooperative coevolution: An architecture for evolving coadapted subcomponents," Evol. Comput., vol. 8, no. 1, pp. 1-29, 2000.
32. F. Dellaert and R. D. Beer, "Coevolving body and brain in autonomous agents using a developmental model," Dept. Comput. Eng. Sci., Case Western Reserve Univ., Cleveland, OH, Tech. Rep. CES-94-16, 1994.
33. W.-P. Lee, J. Hallam, and H. J. Lund, "A hybrid OP/GA approach for coevolving controllers and robot bodies to achieve fitness specific tasks," in Proc. 3rd IEEE Int. Conf. Evol. Comput., 1996, pp. 384-389.
34. J. C. Gallagher, R. D. Beer, K. S. Espenschied, and R. D. Quinn, "Application of evolved locomotion controllers to a hexapod robot," Robotics Autonomous Syst., vol. 9, pp. 95-103, 1996.
35. G. S. Hornby, S. Takamura, J. Yokono, O. Hanagata, T. Yamamoto, and M. Fujita, "Evolving robust gaits with AIBO," in Proc. Int. Conf. Robotics Automation, vol. 3, 2000, pp. 3040-3045.
36. T. Reil and P. Husbands, "Evolution of central pattern generators for bipedal walking in a real-time physics environment," IEEE Trans. Evol. Comput., vol. 6, no. 2, pp. 159-168, Apr. 2002.
37. M. Farina, K. Deb, and P. Amato, "Dynamic multiobjective optimization problems: Test cases, approximations, and applications," IEEE Trans. Evol. Comput., vol. 8, no. 5, pp. 425-442, Oct. 2004.
38. C. A. Coello Coello, G. T. Pulido, and M. S. Lechuga, "Handling multiple objectives with particle swarm optimization," IEEE Trans. Evol. Comput., vol. 8, no. 3, pp. 256-279, Jun. 2004.
39. M. Laumanns, L. Thiele, and E. Zitzler, "Running time analysis of multiobjective evolutionary algorithms on pseudo-Boolean functions," IEEE Trans. Evol. Comput., vol. 8, no. 2, pp. 170-182, Apr. 2004.
40. R. Lewin, Complexity: Life at the Edge of Chaos. London, U.K.: Phoenix, 1993.
41. K. Mainzer, Thinking in Complexity: The Complex Dynamics of Matter, Mind and Mankind, 3rd ed. Berlin, Germany: Springer-Verlag, 1997.
42. M. M. Waldrop, Complexity: The Emerging Science at the Edge of Order and Chaos. London, U.K.: Penguin, 1994.
43. P. Coveney and R. Highfield, Frontiers of Complexity: The Search for Order in a Chaotic World. New York: Fawcett Columbine, 1995.
44. S. Bleuler, M. Brack, L. Thiele, and E. Zitzler, "Multiobjective genetic programming: Reducing bloat using SPEA2," in Proc. 2001 Congr. Evol. Comput., vol. 1, 2001, pp. 536-543.
45. E. D. De Jong, R. A. Watson, and J. B. Pollack, "Reducing bloat and promoting diversity using multiobjective methods," in Proc. Genetic Evol. Comput. Conf., L. Spector, E. Goodman, A. Wu, W. Langdon, H. Voight, M. Gen, S. Sen, M.Dorigo, S. Pezeshk, M. Garzon, and E. Burke, Eds., 2001, pp. 11-18.
46. E. D. De Jong and J. B. Pollack, "Multiobjective methods for tree size control," Genetic Program. Evolv. Mach., vol. 4, no. 3, pp. 211-233, 2003.
47. A. Ekart and S. Nemeth, "Selection based on the Pareto nondomination criterion for controlling code growth in genetic programming," Genetic Program. Evolv. Mach., vol. 2, no. 1, pp. 61-73, 2001.
48. S. Luke and L. Panait, "Lexicographic parsimony pressure," in Proc. Genetic Evol. Comput. Conf., W. Langdon, E. Cantu-Paz, K. Mathias, R. Roy, D. Davis, R. Poli, K. Balakrishnan, V. Honavar, G. Rudolph, J. Wegener, L. Bull, M. Potter, A. Schultz, J. Miller, E. Burke, and N. Jonoska, Eds., 2002, pp. 829-836.
49. J. L. Casti, "On system complexity: Identification, measurement and management," in Complexity, Language and Life: Mathematical Approaches, J. Casti and A. Karlqvist, Eds. Berlin, Germany: Springer-Verlag, 1989, ch. 6, pp. 146-173.
50. S. Y. Auyang, Foundations of Complex-System Theories: In Economics, Evolutionary Biology and Statistical Physics. Cambridge, U.K.: Cambridge Univ. Press, 1998.
51. S. Wolfram, A New Kind of Science. Champaign, IL: Wolfram Media Inc., 2002.
52. T. Cavalier-Smith, The Evolution of Genome Size. New York: Wiley, 1985.
53. J. T. Bonner, The Evolution of Complexity by Means of Natural Selection. Princeton, NJ: Princeton Univ. Press, 1988.
54. H. Atlan and M. Koppel, "The cellular computer DNA: Program or data," Bull. Math. Biol., vol. 52, no. 3, pp. 335-348, 1990.
55. C. U. Smith, "The complexity of brains: A biologist's view," in Complex Systems: Mechanisms of Adaptation, R. Stonier and X. Vu, Eds. Amsterdam, The Netherlands: IOS, 1994, pp. 93-100.
56. J. Maynard Smith and E. Szathmary, The Major Transitions in Evolution. New York: Freeman, 1995.
57. C. L. Nehaniv, "Measuring evolvability as the rate of complexity increase," Artif. Life, vol. 6, no. 1, pp. 45-67, 2000.
58. C. L. Nehaniv, "Measuring evolvability as the rate of complexity increase," in Proc. Artif. Life 7 Workshop, C. Maley and E. Boudreau, Eds., Portland, OR, 2000, pp. 55-57. [Online]. Available: http://home-page.feis.herts.ac.uk/~nehaniv/.
59. E. Szathmaty, F. Jordan, and C. Pal, "Can genes explain biological complexity," Science, vol. 292, pp. 1315-1316, 2001.
60. G. A. Kelly, The Psychology of Personal Constructs. New York: Norton, 1955.
61. P. S. Albin, "The complexity of social groups and social systems described by graph structures," Math. Soc. Sci., vol. 1, no. 1, pp. 101-129, 1980.
62. C. Cooper, "Complexity in C3I systems," in Complex Systems: From Biology to Computation, D. Green and T. Bossomaier, Eds. Amsterdam, The Netherlands: IOS, 1993, pp. 223-231.
63. H. J. Holm, "Complexity in economic theory: Automata theoretical approach," Ph.D. dissertation, Lund Univ., Lund, Sweden, 1993.
64. M. L. Lyon, "Complexity and emergence: The seduction and reduction of nonlinear models in the social sciences," in Complex Systems: From Biology to Computation, D. Green and T. Bossomaier, Eds. Amsterdam, The Netherlands: IOS, 1993, pp. 173-180.
65. E. Gibson, "Linguistic complexity: Locality of syntactic dependencies," Cognition, vol. 68, no. 1, pp. 1-76, 1998.
66. G. S. Halford, W. H. Wilson, and S. Phillips, "Processing capacity defined by relational complexity: Implications for comparative, developmental, and cognitive psychology," Behav. Brain Sci., vol. 21, no. 6, pp. 803-831, 1998.
67. M. B. Clement, "Analyst forecast accuracy: Do ability, resources, and portfolio complexity matter?," J. Account. Econ., vol. 27, no. 3, pp. 285-303, 1999.
68. A. Neyman and D. Okada, "Strategic entropy and complexity in repeated games," Games Econ. Behav., vol. 29, no. 1-2, pp. 191-223, 1999.
69. C. T. Butts, "The complexity of social networks: Theoretical and empirical findings," Soc. Netw., vol. 23, no. 1, pp. 31-71, 2001.
70. G. Andrews and G. S. Halford, "A cognitive complexity metric applied to cognitive development," Cogn. Psych., vol. 45, no. 2, pp. 153-219, 2002.
71. J. DeShazo and G. Fermo, "Designing choice sets for slated preference methods: The effects of complexity on choice consistency," J. Environ. Econ. Manage., vol. 44, no. 1, pp. 123-143, 2002.
72. T. Warren and E. Gibson, "The influence of referential processing on sentence complexity," Cognition, vol. 85, no. 1, pp. 79-112, 2002.
73. C. E. Shannon, "A mathematical theory of communication," Bell Syst. Tech. J., vol. 27, no. 3, pp. 379-423, 1948.
74. A. N. Kolmogorov, "Three approaches to the quantitative definition of information," Prob. Inf. Transmissions, vol. 1, pp. 1-7, 1965.
75. C. H. Bennett, "Logical depth and physical complexity?," in Universal Turing Machine. A Half-Century Survey, R. Herken, Ed. Oxford, U.K.: Oxford Univ. Press, 1988, pp. 227-257.
76. D. H. Wolpert and W. G. MacReady, "Self-dissimilarity: An empirical measure of complexity," Sante Fe Institute, Santa Fe, NM, Working Paper 97-12-087, 1997.
77. D. P. Feldman and J. P. Crutchfield, "Discovering noncritical organization: Statistical mechanical, information theoretic, and computational views of patterns in one-dimensional spin systems," Sante Fe Institute, Santa Fe, NM, Working Paper 98-04-026, 1998.
78. J. He and X. Yao, "Toward an analytic framework for analyzing the computation time of evolutionary algorithms," Artif. Intell., vol. 145, no. 1-2, pp. 59-97, 2003.
79. J. He and X. Yao, "A study of drift analysis for estimating computation time of evolutionary algorithms," Natural Comput., vol. 3, no. 1, pp. 21-35, 2004.
80. B. Edmonds, "From complexity to agent modeling and back again - some implications for economics," in Proc. Workshop Econ. Sci. Complexity, Brussels, Belgium, 1997, [Online]. Avallable: http://cfpm.org/cpmrep24.html.
81. A. M. Turing, "On computable numbers, with an application to the entscheidungsproblem," in Proc. London Mathematleal Soc. (Series 2), vol. 42, 1936, pp. 230-235.
82. M. R. Garey and D. S. Johnson, Computers and Intractability: A Guide to the Theory of NP-Completeness. San Francisco, CA: Freeman, 1979.
83. D. E. Rumelhart, G. E. Hinton, and R. J. Williams, "Learning internal representations by error propagation," in Parallel Distrib. Process., K. Rumelhart and J. McClelland, Eds. Cambridge, MA: MIT Press, 1986, vol. 1, pp. 381-362.
84. D. B. Fogel, L. J. Fogel, and V. W. Porto, "Evolving neural networks," Biol. Cybern., vol. 63, no. 6, pp. 487-493, 1990.
85. R. K. Belew, J. McInerney, and N. N. Schraudolph, "Evolving networks: Using the genetic algorithm with connectionist learning," in Proc. 2nd Int. Workshop Synthesis Simulation Living Syst.: Artificial Life II, C. Langton, C. Taylor, J. Farmer, and S. Rasmussen, Eds., Redwood, CA, 1992, pp. 511-547.
86. G. F. Miller, P. M. Todd, and S. U. Hegde, "Designing neural networks using genetic algorithms," in Proc. 3rd Int. Conf. Genetic Algorithms, J. Schaffer, Ed., 1989, pp. 379-384.
87. H. Kitano, "Designing neural networks using genetic algorithms with graph generation system," Complex Syst., vol. 4, no. 4, pp. 461-476, 1990.
88. J. R. Koza and J. P. Rice, "Genetic generation of both the weights and architecture for a neural network," in Proc. Int. Joint Conf. Neural Netw., vol. 2, 1991, pp. 397-404.
89. P. J. Angeline, G. M. Saunders, and J. B. Pollack, "An evolutionary algorithm that constructs recurrent neural networks?," IEEE Trans. Neural Netw., vol. 5, no. 1, pp. 54-65, Jan. 1994.
90. X. Yao, "Evolving artificial neural networks," Proc. IEEE, vol. 87, no. 9, pp. 1426-1447, Sep. 1999.
91. H. A. Abbass, "Speeding up back-propagation using multiobjective evolutionary algorithms," Neural Comput., vol. 15, no. 11, pp. 2705-2726, 2003.
92. R. Storn and K. Price, "Differential evolution: A simple and efficient adaptive scheme for global optimization over continuous spaces," Int. Comput. Sci. Inst., Berkeley, CA, Tech. Rep. TR-95-012, 1995.
93. J. Teo and H. A. Abbass, "Automatic generation of controllers for embodied legged organisms: A Pareto evolutionary multiobjective approach," Evol. Comput., vol. 12, no. 3, pp. 355-394, 2004.
94. J. Teo and H. A. Abbass, "Elucidating the benefits of a self-adaptive Pareto EMO approach for evolving legged locomotion in artificial creatures," in Proc. Congr. Evol. Comput., vol. 2, 2003, pp. 755-762.
95. B. Grzimek, "Grzimek's animal life encyclopedia," in Insects. New York: Van Nostrand Reinhold, 1984, vol. 2.
96. J. Teo and H. A. Abbass, "Software verification of redundancy in neuroevolutionary robotics," in Lecture Notes in Artificial Intelligence (LNAI), T. Gedeon and L. Fung, Eds. Berlin, Germany: Springer-Verlag, 2003, Proc. 16th Australian Joint Conf. Artif. Intell., pp. 304-314.
97. C. Emmeche, Garden in the Machine. Princeton, NJ: Princeton Univ. Press, 1994.
98. V. N. Vapnik and A. Y. Chervonenkis, "On the uniform convergence of relative frequencies of events to their probabilities," Theor. Probab. Its Applicat., vol. 16, no. 2, pp. 264-280, 1971.
99. S. Haykin, Neural Networks: A Comprehensive Foundation, 2nd ed. Upper Saddle River, NJ: Prentice-Hall, 1999.
100. EnsEMBL.Org. (2002) Ensembl genome browser. [Online]. Available: http://www.ensembl.org
101. C. Gibas and P. Jambeck, Developing Bioinformatics Skills. Se-bastopol, CA: O'Reilly, 2001.
102. J. Teo, M. H. Nguyen, and H. A. Abbass, "Multiobjectivity as a tool for constructing hierarchical complexity," in Lecture Notes in Computer Science, E. Canto-Paz, J. Foster, K. Deb, L. Davis, R. Roy, U.-M. O'Reilly, H.-G. Beyer, R. Standish, G. Kendall, S. Wilson, M. Harman, J. Wegener, D. Dasgupta, M. Potter, A. Schultz, K. Dowsland, N. Jonoska, and J. Miller, Eds. Berlin, Germany: Springer-Verlag, 2003, Proc. Genetic Evol. Comput. Conf., pp. 483-494.
103. J. Teo and H. A. Abbass, "Coordination and synchronization of locomotion in a virtual robot," in Proc. 9th Int. Conf. Neural Inf. Process., vol. 4, L. Wang, J. Rajapakse, K. Fukushima, S. Lee, and X. Yao, Eds.,, 2002, pp. 1931-1935. Nanyang Tech. Univ., Singapore. ISBN 981-04-7525-X.
104. J. Teo and H. A. Abbass, "Multiobjectivity for brain-behavior evolution of a physically-em-bodied organism," in Proc. 8th Int. Conf. Artif. Life: Artif. Life VIII, R. Standish, M. Bedau, and H. Abbass, Eds., 2002, pp. 312-318.
105. J. Teo and H. A. Abbass, "Trading-off mind complexity and locomotion in a physically simulated quadruped," in Proc. 4th Asia-Pacific Conf. Simulated Evol. Learning, vol. 2, L. Wang, K. Tan, T. Foruhashi, J. Kim, and X. Yao, Eds., 2002, pp. 776-780. Nanyang Tech. Univ., Singapore. ISBN 981-04-7523-3.