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A self-organized one-neuron controller for artificial life on wheels

Claudius Gros, Laura Martin, Bulcsú Sándor
2017 Proceedings of the 14th European Conference on Artificial Life ECAL 2017  
The system is fully self-organized in the sense that the controlling neuron receives uniquely the actual angle of the wheel as an input.  ...  We study simulated animats in terms of wheeled robots with the most simple neural controller possible -a single neuron per actuator.  ...  the dynamics of the body and of the environment (Sándor et al., 2015) . • We find that a single neuron per joint is sufficient for a self-organized controller which fully abstracts from terrain modularities  ... 
doi:10.7551/ecal_a_031 dblp:conf/ecal/GrosMS17 fatcat:vfsdfwldavdjff3kox4rnuqrjy

Behavior as broken symmetry in embodied self-organizing robots

Ralf Der, Georg Martius
2013 Advances in Artificial Life, ECAL 2013  
Self-organization-ubiquitous in nature-is a major challenge for both artificial life and modern robotics offering intriguing perspectives for practical applications utilized so far only incipiently.  ...  Instead, we develop an understanding of what happens if the system is self-organizing, what the role of the embodiment is and how we can find clues for predicting and shaping the behavior patterns emerging  ...  We thank for many helpful and clarifying discussions with Nihat Ay, Nils Bertschinger, Eckehard Olbrich, and Keyan Zahedi. GM was supported by a grant of the DFG (SPP 1527).  ... 
doi:10.7551/978-0-262-31709-2-ch086 dblp:conf/ecal/DerM13 fatcat:qb2ossgosjh5diykzl6vtobhya

Neural Autopoiesis: Organizing Self-Boundary by Stimulus Avoidance in Biological and Artificial Neural Networks [article]

Atsushi Masumori, Lana Sinapayen, Norihiro Maruyama, Takeshi Mita, Douglas Bakkum, Urs Frey, Hirokazu Takahashi, Takashi Ikegami
2020 arXiv   pre-print
We consider that these properties are regarded as autonomous regulation of self and non-self for the network, in which a controllable-neuron is regarded as self, and an uncontrollable-neuron is regarded  ...  To study the autonomous regulation of self-boundary, we focus on neural homeodynamic responses to environmental changes using both biological and artificial neural networks.  ...  Elisa-3 is a small, circular robot with a 2.5 cm radius and has two independently controllable wheels.  ... 
arXiv:2001.09641v1 fatcat:yvf43c7gyve5fmsschb7eevn2u

On the evolution of artificial consciousness. Re-inventing the wheel, Re: Inventing the wheel

Stephen Jones
2004 Technoetic Arts  
Somewhere along the line this autocatalytic process, as a self-organising dynamical process, leads to a system which can replicate itself. Thus life starts.  ...  It is a self-organising, self-perpetuating state of autocatalytically increasing complexity.  ...  [Taylor, 1995] Artificial Life Artificial evolution is the operating procedure within artificial life.  ... 
doi:10.1386/tear.2.1.45/0 fatcat:qsrhxlonznc6bawynod3qluveq

Sub-goal based Robot Visual Navigation through Sensorial Space Tesselation

George Palamas, J. Andrew Ware Andrew
2013 International Journal of Advanced Research in Artificial Intelligence (IJARAI)  
During the next step, a genetic algorithm evolves a navigation controller that the robot uses for visual servoing, driving through a set of nodes on the topological map.  ...  We also show that this approach is more expressive for defining a simplistic fitness formula yet descriptive enough for targeting specific goals.  ...  ACKNOWLEDGMENT The authors would like to thank all laboratory members for their valuable discussions through this research.  ... 
doi:10.14569/ijarai.2013.021106 fatcat:6eqnvhx3zjdypoypwboxua4w6y

Evolutionary robots with on-line self-organization and behavioral fitness

D Floreano, J Urzelai
2000 Neural Networks  
We support our arguments with a set of experiments on evolutionary neural controller for physical robots and compare them to conventional encoding.  ...  In addition, we show that when also the genetic encoding is left free to evolve, artificial evolution will select to exploit mechanisms of self-organization.  ...  This is the core of the methodology proposed in this paper, that is evolving the mechanisms of self-organization of a controller. 3.  ... 
doi:10.1016/s0893-6080(00)00032-0 pmid:10946391 fatcat:cr2fcjjpdzeo3pyhtomuvtuxzi

For Corvids together Is Better [chapter]

Michela Ponticorvo, Orazio Miglino, Onofrio Gigliotta
2011 Lecture Notes in Computer Science  
Sommario In this paper we describe a model of cooperation in Evolutionary Robotics (ER) derived by animal research on Corvids.  ...  The work presented here starts from works inspired by social insects and then describes an ER model which is built on corvids behavior, that addresses the evolution of cooperation, showing how different  ...  The robot and its artificial neural controller The robots are two e-Puck robots [22] , with a diameter of 7.5 cm provided with 2 motors which control the 2 corresponding wheels, 8 infrared proximity sensors  ... 
doi:10.1007/978-3-642-21283-3_28 fatcat:j4e5m2kefbh4jd7otnrys6t2gi

NC Simulation [chapter]

2014 CIRP Encyclopedia of Production Engineering  
A neural network consists of an interconnected group of artificial neurons, and it processes information using a connectionist The International Academy for Production Engineering (ed.), CIRP Encyclopedia  ...  Synonyms ANN; Artificial neural network; Neural models Definition An artificial neural network (ANN), usually called neural network (NN), is a mathematical model or computational model that is inspired  ...  An important aspect that did come forward in the 1970s was that of self-organizing maps (SOMs). SOMs will be discussed later in this encyclopedia.  ... 
doi:10.1007/978-3-642-20617-7_100323 fatcat:ekjbs3ucn5c67fnipcfwgqb7ue

From Wheels to Wings with Evolutionary Spiking Circuits

Dario Floreano, Jean-Christophe Zufferey, Jean-Daniel Nicoud
2005 Artificial Life  
This ongoing project consists in developing a flying, vision-based micro-robot, a bio-inspired controller composed of adaptive spiking neurons directly mapped into digital micro-controllers, and a method  ...  This document describes the motivation and methodology used to reach our goal as well as the results of a number of preliminary experiments on vision-based wheeled and flying robots.  ...  the blimp, Alexis Guanella for modeling and simulation, and Claudio Mattiussi for discussions of spiking neurons.  ... 
doi:10.1162/1064546053278900 pmid:15811223 fatcat:ugdthwbferdntbcdwjs3xqga64

Self-Organized Coordinated Motion in Groups of Physically Connected Robots

Gianluca Baldassarre, Vito Trianni, Michael Bonani, Francesco Mondada, Marco Dorigo, Stefano Nolfi
2007 IEEE Transactions on Systems Man and Cybernetics Part B (Cybernetics)  
This controller is synthesized through artificial evolution in a simulated environment in order to let the robots display coordinatedmotion behaviors.  ...  In this paper, we study how a group of physically assembled robots can display coherent behavior on the basis of a simple neural controller that has access only to local sensory information.  ...  Many researchers have provided models for schooling behaviors and replicated them in artificial-life simulations [14] .  ... 
doi:10.1109/tsmcb.2006.881299 pmid:17278574 fatcat:eigmnx5frbchhjsyn3o5oysmcm

Novel plasticity rule can explain the development of sensorimotor intelligence

Ralf Der, Georg Martius
2015 Proceedings of the National Academy of Sciences of the United States of America  
Grounding autonomous behavior in the nervous system is a fundamental challenge for neuroscience. In particular, the self-organized behavioral development provides more questions than answers.  ...  We propose differential extrinsic plasticity (DEP) as a new synaptic rule for self-learning systems and apply it to a number of complex robotic systems as a test case.  ...  We thank Michael Herrmann, Anna Levina, Sacha Sokoloski, and Sophie Fessl for helpful comments. G.  ... 
doi:10.1073/pnas.1508400112 pmid:26504200 pmcid:PMC4653169 fatcat:4pgq2sweonhavhnc7c74viqo2e

Robot control and the evolution of modular neurodynamics

Frank Pasemann, Uli Steinmetz, Martin Hülse, Bruno Lara
2001 Theory in biosciences  
structure for a modular synthesis of such modules.  ...  For demonstration, evolved networks for the control of miniature Khepera robots are presented.  ...  The explanation for this efficient behavior can be found simply in the excitatory self-connection w s of one of the output neurons.  ... 
doi:10.1007/s12064-001-0025-9 fatcat:2g7sugmamjeatd66pgfr3yiuai

Robot Control and the Evolution of Modular Neurodynamics

F PASEMANN
2001 Theory in biosciences  
structure for a modular synthesis of such modules.  ...  For demonstration, evolved networks for the control of miniature Khepera robots are presented.  ...  The explanation for this efficient behavior can be found simply in the excitatory self-connection w s of one of the output neurons.  ... 
doi:10.1078/1431-7613-00047 fatcat:kdzfwswlffhw3ix77kybgglayu

Synthesis of autonomous robots through evolution

Stefano Nolfi, Dario Floreano
2002 Trends in Cognitive Sciences  
Evolutionary robotics is the attempt to develop robots through a self-organized process based on artificial evolution.  ...  This approach stresses the importance of the study of systems that: (1) have a body and are situated in a physical environment, and (2) autonomously develop their own skills in close interaction with the  ...  process such as artificial evolution that allows them to self-organize autonomously.  ... 
doi:10.1016/s1364-6613(00)01812-x pmid:11849613 fatcat:cnc4kuvq6fdvzohkkyekw3bbeu

Evolving Aggregation Behaviors in a Swarm of Robots [chapter]

Vito Trianni, Roderich Groß, Thomas H. Labella, Erol Şahin, Marco Dorigo
2003 Lecture Notes in Computer Science  
We consider the problem of defining the control system for the swarm-bot using artificial evolution. The results obtained in a simulated 3D environment are presented and analyzed.  ...  In this paper, we study aggregation in a swarm of simple robots, called s-bots, having the capability to self-organize and selfassemble to form a robotic system, called a swarm-bot.  ...  Marco Dorigo acknowledges support from the Belgian FNRS, of which he is a Senior Research Associate.  ... 
doi:10.1007/978-3-540-39432-7_93 fatcat:6ozblhuicjet3flv725vcpnfka
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