SpringerLink
Log in

Embedded Evolutionary Robotics: The (1+1)-Restart-Online Adaptation Algorithm

  • Conference paper
New Horizons in Evolutionary Robotics

Part of the book series: Studies in Computational Intelligence ((SCI,volume 341))

Abstract

This paper deals with online onboard behavior optimization for a autonomous mobile robot in the scope of the European FP7 Symbrion Project. The work presented here extends the (1+1)-online algorithm introduced in [4]. The (1+1)-online algorithm has a limitation regarding the ability to perform global search whenever a local optimum is reached. Our new implementation of the algorithm, termed (1+1)-restart-online algorithm, addresses this issue and has been successfully experimented using a Cortex M3 microcontroller connected to a realistic robot simulator as well as within an autonomous robot based on an Atmel ATmega128 microcontroller. Results from the experiments show that the new algorithm is able to escape local optima and to perform behavior optimization in a complete autonomous fashion. As a consequence, it is able to converge faster and provides a richer set of relevant controllers compared to the previous implementation.

This is a preview of subscription content, log in via an institution to check access.

Access this chapter

Log in via an institution

Subscribe and save

Springer+ Basic
EUR 32.99 /Month
  • Get 10 units per month
  • Download Article/Chapter or Ebook
  • 1 Unit = 1 Article or 1 Chapter
  • Cancel anytime
Subscribe now

Buy Now

Chapter
GBP 19.95
Price includes VAT (United Kingdom)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
eBook
GBP 103.50
Price includes VAT (United Kingdom)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
Softcover Book
GBP 129.99
Price includes VAT (United Kingdom)
  • Compact, lightweight edition
  • Dispatched in 3 to 5 business days
  • Free ship** worldwide - see info
Hardcover Book
GBP 129.99
Price includes VAT (United Kingdom)
  • Durable hardcover edition
  • Dispatched in 3 to 5 business days
  • Free ship** worldwide - see info

Tax calculation will be finalised at checkout

Purchases are for personal use only

Institutional subscriptions

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

Similar content being viewed by others

References

  1. Auger, A., Hansen, N.: A restart cma evolution strategy with increasing population size. In: Proceedings of the IEEE Congress on Evolutionary Computation, CEC 2005 (2005)

    Google Scholar 

  2. Beyer, H.G.: Evolutionary algorithms in noisy environments: Theoretical issues and guidelines for practice. In: Computer Methods in Applied Mechanics and Engineering, pp. 239–267 (1998)

    Google Scholar 

  3. Braintenberg, V.: Vehicles: Experiments in Synthetic Psychology. MIT Press, Cambridge (1986)

    Google Scholar 

  4. Bredeche, N., Haasdijk, E., Eiben, A.: On-line, on-board evolution of robot controllers. In: Collet, P., Monmarché, N., Legrand, P., Schoenauer, M., Lutton, E. (eds.) EA 2009. LNCS, vol. 5975, pp. 110–121. Springer, Heidelberg (2010)

    Chapter  Google Scholar 

  5. Eiben, A., Haasdijk, E., Bredeche, N.: Symbiotic Multi-Robot Organisms: Reliability, Adaptability, Evolution. In: Levi, P., Kernbach, S. (eds.) Symbiotic Multi-Robot Organisms. Cognitive Systems Monographs, vol. 7, pp. 361–382. Springer, Heidelberg (2010)

    Google Scholar 

  6. Eiben, A.E., Michalewicz, Z. (eds.): Evolutionary Computation. IOS Press, Amsterdam (1998)

    Google Scholar 

  7. Elfwing, S.: Embodied Evolution of Learning Ability. PhD thesis, KTH School of Computer Science and Communication, SE-100 44 Stockholm, Sweden (November 2007)

    Google Scholar 

  8. Ficici, S., Watson, R., Pollack, J.: Embodied evolution: A response to challenges in evolutionary robotics. In: Wyatt, J.L., Demiris, J. (eds.) EWLR 1999. LNCS (LNAI), vol. 1812, pp. 14–22. Springer, Heidelberg (2000)

    Google Scholar 

  9. Floreano, D., Husbands, P., Nolfi, S.: Evolutionary robotics. In: Siciliano, B., Khatib, O. (eds.) Handbook of Robotics, pp. 1423–1451. Springer, Heidelberg (2008)

    Chapter  Google Scholar 

  10. Floreano, D., Mattiussi, C.: Bio-Inspired Artificial Intelligence: Theories, Methods, and Technologies. In: Intelligent Robotics and Autonomous Agents. MIT Press, Cambridge (2008)

    Google Scholar 

  11. Floreano, D., Schoeni, N., Caprari, G., Blynel, J.: Evolutionary Bits’n’Spikes. In: Standish, R.K., Beadau, M.A., Abbass, H.A. (eds.) 8th International Conference on the Simulation and Synthesis of Living Systems (Alife 8). MIT Press, Cambridge (2002)

    Google Scholar 

  12. Haroun Mahdavi, S., Bentley, P.J.: Innately adaptive robotics through embodied evolution. Auton. Robots 20(2), 149–163 (2006)

    Article  Google Scholar 

  13. Jakobi, N., Husband, P., Harvey, I.: Noise and the reality gap: The use of simulation in evolutionary robotics. In: Morán, F., Merelo, J.J., Moreno, A., Chacon, P. (eds.) ECAL 1995. LNCS, vol. 929, Springer, Heidelberg (1995)

    Google Scholar 

  14. Koenig, L., Jebens, K., Kernbach, S., Levi, P.: Stability of on-line and on-board evolving of adaptive collective behavior. In: European Robotics Symposium 2008. Springer Tracts in Advanced Robotics, vol. 44, pp. 293–302. Springer, Heidelberg (2008)

    Chapter  Google Scholar 

  15. Nehmzow, U.: Physically embedded genetic algorithm learning in multi-robot scenarios: The pega algorithm. In: Prince, C., Demiris, Y., Marom, Y., Kozima, H., Balkenius, C. (eds.) Proceedings of The Second International Workshop on Epigenetic Robotics: Modeling Cognitive Development in Robotic Systems, LUCS, Edinburgh, UK, vol. 94 (August 2002)

    Google Scholar 

  16. Nolfi, S., Floreano, D.: Evolutionary Robotics: The Biology, Intelligence, and Technology of Self-Organizing Machines. MIT Press/Bradford Books, Cambridge, MA (2000)

    Google Scholar 

  17. Perez, A.L.F., Bittencourt, G., Roisenberg, M.: Embodied evolution with a new genetic programming variation algorithm. In: ICAS, pp. 118–123 (2008)

    Google Scholar 

  18. Rechenberg, I.: Evolutionstrategie: Optimierung Technisher Systeme nach Prinzipien des Biologischen Evolution. Fromman-Hozlboog Verlag, Stuttgart (1973)

    Google Scholar 

  19. Schwefel, H.-P.: Numerical Optimisation of Computer Models. Wiley, New York (1981)

    Google Scholar 

  20. Simões, E.D.V., Dimond, K.R.: Embedding a distributed evolutionary system into population of autonomous mobile robots. In: Proceedings of the 2001 IEEE Systems, Man, and Cybernetics Conference (2001)

    Google Scholar 

  21. Thrun, S., Burgard, W., Fox, D.: Probabilistic Robotics. MIT Press, Cambridge (2005)

    MATH  Google Scholar 

  22. Tomassini, M.: Spatially structured evolutionary algorithms: Artificial evolution in space and time. In: Natural Computing Series (2005)

    Google Scholar 

  23. Usui, Y., Arita, T.: Situated and embodied evolution in collective evolutionary robotics. In: Proceedings of the 8th International Symposium on Artificial Life and Robotics, pp. 212–215 (2003)

    Google Scholar 

  24. Walker, J.H., Garrett, S.M., Wilson, M.S.: The balance between initial training and lifelong adaptation in evolving robot controllers. IEEE Transactions on Systems, Man, and Cybernetics, Part B 36(2), 423–432 (2006)

    Article  Google Scholar 

  25. 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)

    Article  Google Scholar 

  26. Wischmann, S., Stamm, K., Wörgötter, F.: Embodied evolution and learning: The neglected timing of maturation. In: Almeida e Costa, F., Rocha, L.M., Costa, E., Harvey, I., Coutinho, A. (eds.) ECAL 2007. LNCS (LNAI), vol. 4648, pp. 284–293. Springer, Heidelberg (2007)

    Chapter  Google Scholar 

Download references

Author information

Authors and Affiliations

  1. TAO - Univ. Paris-Sud, INRIA, CNRS LRI, Bat. 490, F-91405, Orsay, France

    Jean-Marc Montanier & Nicolas Bredeche

Authors
  1. Jean-Marc Montanier
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Nicolas Bredeche
    View author publications

    You can also search for this author in PubMed Google Scholar

Editor information

Editors and Affiliations

  1. CNRS UMR 7222, ISIR - Pierre and Marie Curie University, 4, place Jussieu cedex 05, Boite courrier 173, 75252, Paris, France

    Stéphane Doncieux

  2. Université Paris-Sud, TAO - Univ. Paris-Sud, INRIASaclay, CNRS, LRI, Bat. 490, F-91405, Orsay, France

    Nicolas Bredèche

  3. CNRS UMR 7222, ISIR - Pierre andMarie Curie University, 4, place Jussieu cedex 05, Boite courrier 173, 75252, Paris, France

    Jean-Baptiste Mouret

Rights and permissions

Reprints and permissions

Copyright information

© 2011 Springer-Verlag Berlin Heidelberg

About this paper

Cite this paper

Montanier, JM., Bredeche, N. (2011). Embedded Evolutionary Robotics: The (1+1)-Restart-Online Adaptation Algorithm. In: Doncieux, S., Bredèche, N., Mouret, JB. (eds) New Horizons in Evolutionary Robotics. Studies in Computational Intelligence, vol 341. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-18272-3_11

Download citation

  • DOI: https://doi.org/10.1007/978-3-642-18272-3_11

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-18271-6

  • Online ISBN: 978-3-642-18272-3

  • eBook Packages: EngineeringEngineering (R0)

Publish with us

Policies and ethics

Search

Navigation