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Overcoming Initial Convergence in Multi-objective Evolution of Robot Control and Morphology Using a Two-Phase Approach
[chapter]
2017
Lecture Notes in Computer Science
Co-evolution of robot morphologies and control systems is a new and interesting approach for robotic design. However, the increased size and ruggedness of the search space becomes a challenge, often leading to early convergence with sub-optimal morphology-controller combinations. Further, mutations in the robot morphologies tend to cause large perturbations in the search, effectively changing the environment, from the controller's perspective. In this paper, we present a two-stage approach to
doi:10.1007/978-3-319-55849-3_53
fatcat:zfcvu5hslfaynkoaqq2j7xftya