Structure and function of evolved neuro-controllers for autonomous robots

Martin Hülse, Steffen Wischmann, Frank Pasemann
2004 Connection science  
The artificial life approach to evolutionary robotics is used as a fundamental framework for the development of a modular neural control of autonomous mobile robots. The applied evolutionary technique is especially designed to grow different neural structures with complex dynamical properties. This is due to a modular neurodynamics approach to cognitive systems, stating that cognitive processes are the result of interacting dynamical neuro-modules. The evolutionary algorithm is described, and a
more » ... few examples for the versatility of the procedures are given. Besides solutions for standard tasks like exploration, obstacle avoidance and tropism, also the sequential evolution of morphology and control of a biped is demonstrated. A further example describes the co-evolution of different neuro-controllers co-operating to keep a gravitationally driven art-robot in constant rotation.
doi:10.1080/09540090412331314795 fatcat:ujw3xrh5fzashbn77octkj3slm