Skip to main content
SpringerLink
Log in

Robotic Control Using Hierarchical Genetic Programming

  • Conference paper
Book cover Genetic and Evolutionary Computation – GECCO 2004 (GECCO 2004)

Part of the book series: Lecture Notes in Computer Science ((LNCS,volume 3103))

Included in the following conference series:

Abstract

In this paper, we compare the performance of hierarchical GP methods (Automatically Defined Functions, Module Acquisition, Adaptive Representation through Learning) with the canonical GP Implementation and with a linear genome GP system in the domain of evolving robotic controllers for a simulated Khepera miniature robot. We successfully evolve robotic controllers to accomplish obstacle avoidance, wall following, and light avoidance tasks.

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

Access this chapter

Log in via an institution
Chapter
USD 29.95
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
eBook
USD 39.99
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
Softcover Book
USD 54.99
Price excludes VAT (USA)
  • Compact, lightweight edition
  • Dispatched in 3 to 5 business days
  • Free shipping 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.

References

  1. Angeline, P.J.: Genetic Programming and Emergent Intelligence. In: Kinnear Jr., K.E. (ed.) Advances in Genetic Programming, ch. 4, pp. 75–98. MIT Press, Cambridge (1994)

    Google Scholar 

  2. Angeline, P.J., Pollack, J.B.: The Evolutionary Induction of Subroutines. In: Proceedings of the Fourteenth Annual Conference of the Cognitive Science Society, Lawrence Erlbaum, Bloomington, Indiana, USA (1992)

    Google Scholar 

  3. Koza, J.: Genetic Programming: On the Programming of Computers by Means of Natural Selection. MIT Press, Cambridge (1992)

    MATH  Google Scholar 

  4. Koza, J.: Genetic Programming II: Automatic Discovery of Reusable Programs. MIT Press, Cambridge (1994)

    MATH  Google Scholar 

  5. Nordin, P.: A Compiling Genetic Programming System that Directly Manipulates the Machine-Code. In: Kinnear Jr., K.E. (ed.) Advances in Genetic Programming, ch. 14, pp. 311–331. MIT Press, Cambridge (1994)

    Google Scholar 

  6. Nordin, P., Banzhaf, W.: Real Time Control of a Khepera Robot using Genetic Programming. Cybernetics and Control 26(3), 533–561 (1997)

    MathSciNet  Google Scholar 

  7. Nordin, P., Banzhaf, W., Brameier, M.: Evolution of a world model for a miniature robot using genetic programming. Robotics and Autonomous Systems 25(1-2), 105–116 (1998)

    Article  Google Scholar 

  8. Rosca, J.P., Ballard, D.H.: Discovery of Subroutines in Genetic Programming. In: Angeline, P.J., Kinnear Jr., K.E. (eds.) Advances in Genetic Programming 2, ch. 9, pp. 177–202. MIT Press, Cambridge (1996)

    Google Scholar 

  9. Rosca, J.P.: Entropy-Driven Adaptive Representation. In: Rosca, J.P. (ed.) Proceedings of the Workshop on Genetic Programming: From Theory to Real-World Applications, Tahoe City, California, USA, pp. 23–32 (1995)

    Google Scholar 

Download references

Author information

Authors and Affiliations

  1. Department of Computer Science, University of Calgary, 2500 University Drive N.W., Calgary, AB, T2N 1N4, Canada

    Marcin L. Pilat

  2. School of Computer Science, Carleton University, 1125 Colonel By Drive, Ottawa, ON, K1S 5B6, Canada

    Franz Oppacher

Authors
  1. Marcin L. Pilat
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Franz Oppacher
    View author publications

    You can also search for this author in PubMed Google Scholar

Editor information

Editors and Affiliations

  1. Indian Institute of Technology Kanpur, Department of Mechanical Engineering, Kanpur Genetic Algorithms Laboratory (KanGAL), Kanpur, 208016, Uttar Pradesh, India

    Kalyanmoy Deb

Rights and permissions

Reprints and permissions

Copyright information

© 2004 Springer-Verlag Berlin Heidelberg

About this paper

Cite this paper

Pilat, M.L., Oppacher, F. (2004). Robotic Control Using Hierarchical Genetic Programming. In: Deb, K. (eds) Genetic and Evolutionary Computation – GECCO 2004. GECCO 2004. Lecture Notes in Computer Science, vol 3103. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-24855-2_72

Download citation

  • DOI: https://doi.org/10.1007/978-3-540-24855-2_72

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-22343-6

  • Online ISBN: 978-3-540-24855-2

  • eBook Packages: Springer Book Archive

Publish with us

Policies and ethics

Search

Navigation