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Evolution of Robot Controller Using Cartesian Genetic Programming

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Book cover Genetic Programming (EuroGP 2005)

Part of the book series: Lecture Notes in Computer Science ((LNTCS,volume 3447))

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Abstract

Cartesian Genetic Programming is a graph based representation that has many benefits over traditional tree based methods, including bloat free evolution and faster evolution through neutral search. Here, an integer based version of the representation is applied to a traditional problem in the field: evolving an obstacle avoiding robot controller. The technique is used to rapidly evolve controllers that work in a complex environment and with a challenging robot design. The generalisation of the robot controllers in different environments is also demonstrated. A novel fitness function based on chemical gradients is presented as a means of improving evolvability in such tasks.

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Author information

Authors and Affiliations

  1. Department Of Electronics, University of York, YO10 5DD, UK

    Simon Harding & Julian F. Miller

Authors
  1. Simon Harding
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  2. Julian F. Miller
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Editor information

Editors and Affiliations

  1. No Affiliation,  

    Maarten Keijzer

  2. Dipartimento di Tecnologie dell’Informazione, Università di Milano Crema,  

    Andrea Tettamanzi

  3. Université Louis Pasteur, LSIIT, FDBT, Pôle API, F-67400, Illkirch, France

    Pierre Collet

  4. National e-Science Centre, University of Edinburgh, United Kingdom

    Jano van Hemert

  5. Institut des Systèmes d’Information (ISI), Université de Lausanne, Hautes Etudes Commerciales (HEC),  

    Marco Tomassini

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© 2005 Springer-Verlag Berlin Heidelberg

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Harding, S., Miller, J.F. (2005). Evolution of Robot Controller Using Cartesian Genetic Programming. In: Keijzer, M., Tettamanzi, A., Collet, P., van Hemert, J., Tomassini, M. (eds) Genetic Programming. EuroGP 2005. Lecture Notes in Computer Science, vol 3447. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-31989-4_6

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  • DOI: https://doi.org/10.1007/978-3-540-31989-4_6

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-25436-2

  • Online ISBN: 978-3-540-31989-4

  • eBook Packages: Computer ScienceComputer Science (R0)

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