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König, Lukas

Complex Behavior in Evolutionary Robotics

[Complex Behaviour In Evolutionary Robotics]

DE GRUYTER OLDENBOURG

    74,95 € / $105.00 / £68.00*

    eBook (PDF)
    Publication Date:
    March 2015
    Copyright year:
    2015
    ISBN
    978-3-11-040855-3
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    Overview

    • The author is involved in a large project of the German Research Foundation (DFG) devoted to the topic
    • The presented research findings are already being used internationally (e.g. in Robotic Gait Orthosis at ETH Zurich and in South Korea)

    Aims and Scope

    Today, autonomous robots are used in a rather limited range of applications such as exploration of inaccessible locations, cleaning floors, mowing lawns etc. However, ongoing hardware improvements (and human fantasy) steadily reveal new robotic applications of significantly higher sophistication. For such applications, the crucial bottleneck in the engineering process tends to shift from physical boundaries to controller generation. As an attempt to automatize this process, Evolutionary Robotics has successfully been used to generate robotic controllers of various types. However, a major challenge of the field remains the evolution of truly complex behavior. Furthermore, automatically created controllers often lack analyzability which makes them useless for safety-critical applications. In this book, a simple controller model based on Finite State Machines is proposed which allows a straightforward analysis of evolved behaviors. To increase the model's evolvability, a procedure is introduced which, by adapting the genotype-phenotype mapping at runtime, efficiently traverses both the behavioral search space as well as (recursively) the search space of genotype-phenotype mappings. Furthermore, a data-driven mathematical framework is proposed which can be used to calculate the expected success of evolution in complex environments.

    Supplementary Information

    Details

    17.0 x 24.0 cm
    xx, 242 pages
    DE GRUYTER OLDENBOURG
    Language:
    English
    Type of Publication:
    Monograph
    Keyword(s):
    Readership:
    Scientists in international research communities, engineers in automation industry R&D

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    Lukas König, KIT Karslruhe, Germany.

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