Evolving Spatiotemporal Coordination in a Modular Robotic System

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@InProceedings{Prokopenko:2006:SAB,

• author = "Mikhail Prokopenko and Vadim Gerasimov and Ivan Tanev",
• title = "Evolving Spatiotemporal Coordination in a Modular Robotic System",
• booktitle = "From Animals to Animats 9: 9th International Conference on the Simulation of Adaptive Behavior (SAB 2006)",
• year = "2006",
• editor = "Stefano Nolfi and Gianluca Baldassarre and Raffaele Calabretta and John C. T. Hallam and Davide Marocco and Jean-Arcady Meyer and Orazio Miglino and Domenico Parisi",
• volume = "4095",
• series = "Lecture Notes in Computer Science",
• pages = "558--569",
• address = "Rome, Italy",
• month = "25-29 " # sep,
• publisher = "Springer",
• bibsource = "DBLP, http://dblp.uni-trier.de",
• keywords = "genetic algorithms, genetic programming, spatiotemporal coordination, entropy",
• ISBN = "3-540-38608-4",
• URL = "http://www.ict.csiro.au/staff/mikhail.prokopenko/Publications/Agents/snakebot-corrected.pdf",
• DOI = "doi:10.1007/11840541_46",
• size = "12 pages",
• abstract = "In this paper we present a novel information-theoretic measure of spatiotemporal coordination in a modular robotic system, and use it as a fitness function in evolving the system. This approach exemplifies a new methodology formalising co-evolution in multi-agent adaptive systems: information-driven evolutionary design. The methodology attempts to link together different aspects of information transfer involved in adaptive systems, and suggests to approximate direct task-specific fitness functions with intrinsic selection pressures. In particular, the information-theoretic measure of coordination employed in this work estimates the generalised correlation entropy K2 and the generalized excess entropy E2 computed over a multivariate time series of actuators' states. The simulated modular robotic system evolved according to the new measure exhibits regular locomotion and performs well in challenging terrains.",
• notes = "http://www.sab06.org/",

}

Genetic Programming entries for Mikhail Prokopenko Vadim Gerasimov Ivan T Tanev

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