Edgar Buchanan
Bootstrapping artificial evolution to design robots for autonomous fabrication
Buchanan, Edgar; Le Goff, L�ni K.; Li, Wei; Hart, Emma; Eiben, Agoston E.; De Carlo, Matteo; Winfield, Alan; Hale, Matthew F.; Woolley, Robert; Angus, Mike; Timmis, Jon; Tyrrell, Andy M.
Authors
Dr Leni Le Goff L.LeGoff2@napier.ac.uk
Lecturer
Wei Li
Prof Emma Hart E.Hart@napier.ac.uk
Professor
Agoston E. Eiben
Matteo De Carlo
Alan Winfield
Matthew F. Hale
Robert Woolley
Mike Angus
Jon Timmis
Andy M. Tyrrell
Abstract
A long-term vision of evolutionary robotics is a technology enabling the evolution of entire autonomous robotic ecosystems that live and work for long periods in challenging and dynamic environments without the need for direct human oversight. Evolutionary Robotics has been widely used due to its capability of creating unique robot designs in simulation. Recent work has shown that it is possible to autonomously construct evolved designs in the physical domain, however this brings new challenges: the autonomous manufacture and assembly process introduces new constraints that are not apparent in simulation. To tackle this, we introduce a new method for producing a repertoire of diverse but manufacturable robots. This repertoire is used to seed an evolutionary loop that subsequently evolves robot designs and controllers capable of solving a maze-navigation task. We show that compared to random initialisation, seeding with a diverse and manufacturable population speeds up convergence and on some tasks, increases performance, while maintaining manufacturability.
Citation
Buchanan, E., Le Goff, L. K., Li, W., Hart, E., Eiben, A. E., De Carlo, M., Winfield, A., Hale, M. F., Woolley, R., Angus, M., Timmis, J., & Tyrrell, A. M. (2020). Bootstrapping artificial evolution to design robots for autonomous fabrication. Robotics, 9(4), Article 106. https://doi.org/10.3390/robotics9040106
Journal Article Type | Article |
---|---|
Acceptance Date | Dec 2, 2020 |
Online Publication Date | Dec 7, 2020 |
Publication Date | 2020-12 |
Deposit Date | Dec 4, 2020 |
Publicly Available Date | Dec 7, 2020 |
Electronic ISSN | 2218-6581 |
Publisher | MDPI |
Peer Reviewed | Peer Reviewed |
Volume | 9 |
Issue | 4 |
Article Number | 106 |
DOI | https://doi.org/10.3390/robotics9040106 |
Keywords | evolutionary robotics, autonomous robot evolution, autonomous robot fabrication, robot manufacturability |
Public URL | http://researchrepository.napier.ac.uk/Output/2708348 |
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Bootstrapping Artificial Evolution To Design Robots For Autonomous Fabrication (accepted version)
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Publisher Licence URL
http://creativecommons.org/licenses/by/4.0/
Copyright Statement
This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
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