Automatic Synthesis of Controllers for Real Robots Based on Preprogrammed Behaviors

  • Miguel Duarte
  • Sancho Oliveira
  • Anders Lyhne Christensen
Conference paper

DOI: 10.1007/978-3-642-33093-3_25

Part of the Lecture Notes in Computer Science book series (LNCS, volume 7426)
Cite this paper as:
Duarte M., Oliveira S., Christensen A.L. (2012) Automatic Synthesis of Controllers for Real Robots Based on Preprogrammed Behaviors. In: Ziemke T., Balkenius C., Hallam J. (eds) From Animals to Animats 12. SAB 2012. Lecture Notes in Computer Science, vol 7426. Springer, Berlin, Heidelberg

Abstract

We present a novel methodology for the synthesis of behavioral control for real robotic hardware. In our approach, neural controllers decide when different preprogrammed behaviors should be active during task execution. We evaluate our approach in a double T-maze task carried out by an e-puck robot. We compare results obtained in our setup with results obtained in a traditional evolutionary robotics setup where the neural controller has direct control over the robot’s actuators. The results show that the combination of preprogrammed and evolved control offers two key benefits over a traditional evolutionary robotics approach: (i) solutions are synthesized faster and achieve a higher performance, and (ii) solutions synthesized in simulation maintain their performance when transferred to real robotic hardware.

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Copyright information

© Springer-Verlag Berlin Heidelberg 2012

Authors and Affiliations

  • Miguel Duarte
    • 1
  • Sancho Oliveira
    • 1
  • Anders Lyhne Christensen
    • 1
  1. 1.Instituto de Telecomunicações & Instituto Universitário de Lisboa (ISCTE-IUL)LisbonPortugal

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