Abstract
We investigate on-line on-board evolution of robot controllers based on the so-called hybrid approach (island-based). Inherently to this approach each robot hosts a population (island) of evolving controllers and exchanges controllers with other robots at certain times. We compare different exchange (migration) policies in order to optimize this evolutionary system and compare the best hybrid setup with the encapsulated and distributed alternatives. We conclude that adding a difference-based migrant selection scheme increases the performance.
This work was supported in part by Spanish Projects EvOrq (TIC-3903), CEI BioTIC GENIL (CEB09-0010), MICINN CEI Program (PYR-2010-13) and FPU research grant AP2009-2942 and the European Union FET Proactive Initiative: Pervasive Adaptation funding the SYMBRION project under grant agreement 216342. The authors wish to thank Selmar Smit and Luis Pineda for their help and fruitful discussions.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Araujo, L., Merelo, J.J.: Diversity through multiculturality: Assessing migrant choice policies in an island model. IEEE Trans. Evolutionary Computation 15(4), 456–469 (2011)
Cantú-Paz, E.: Migration policies, selection pressure, and parallel evolutionary algorithms. Journal of Heuristics 7(4), 311–334 (2001)
Eiben, A.E., Haasdijk, E., Bredeche, N.: Embodied, on-line, on-board evolution for autonomous robotics. In: Levi, P., Kernbach, S. (eds.) Symbiotic Multi-Robot Organisms: Reliability, Adaptability, Evolution, vol. 10, pp. 361–382. Springer, Heidelberg (2010)
Haasdijk, E., Eiben, A.E., Karafotias, G.: On-line evolution of robot controllers by an encapsulated evolution strategy. In: Proceedings of the 2010 IEEE Congress on Evolutionary Computation. IEEE Computational Intelligence Society, IEEE Press, Barcelona, Spain (2010)
Huijsman, R.-J., Haasdijk, E., Eiben, A.E.: An on-line, on-board distributed algorithm for evolutionary robotics. In: Proceedings of the Biennial International Conference on Artificial Evolution, EA 2011 (2011) (to appear)
Laredo, J.L.J., Eiben, A.E., van Steen, M., Merelo, J.J.: Evag: a scalable peer-to-peer evolutionary algorithm. Genetic Programming and Evolvable Machines 11(2), 227–246 (2010)
Nolfi, S., Floreano, D.: Evolutionary Robotics: The Biology, Intelligence, and Technology of Self-Organizing Machines. MIT (2000)
Nordin, P., Banzhaf, W.: An on-line method to evolve behavior and to control a miniature robot in real time with genetic programming. Adaptive Behavior 5(2), 107–140 (1997)
Smit, S.K., Eiben, A.E.: Comparing parameter tuning methods for evolutionary algorithms. In: IEEE Congress on Evolutionary Computation, CEC 2009, pp. 399–406. IEEE (2009)
Smit, S.K., Eiben, A.E.: Multi-problem parameter tuning. In: Proceedings of the Biennial International Conference on Artificial Evolution, EA 2011 (2011) (to appear)
Watson, R.A., Ficici, S.G., Pollack, J.B.: Embodied evolution: Distributing an evolutionary algorithm in a population of robots. Robotics and Autonomous Systems 39(1), 1–18 (2002)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2012 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
García-Sánchez, P., Eiben, A.E., Haasdijk, E., Weel, B., Merelo-Guervós, JJ. (2012). Testing Diversity-Enhancing Migration Policies for Hybrid On-Line Evolution of Robot Controllers. In: Di Chio, C., et al. Applications of Evolutionary Computation. EvoApplications 2012. Lecture Notes in Computer Science, vol 7248. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-29178-4_6
Download citation
DOI: https://doi.org/10.1007/978-3-642-29178-4_6
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-29177-7
Online ISBN: 978-3-642-29178-4
eBook Packages: Computer ScienceComputer Science (R0)