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Nonlinear dynamics modelling for controller evolution

Published: 07 July 2007 Publication History

Abstract

The problem of how to acquire a model of a physical robot,which is fit for evolution of controllers that can subsequently be used to control that robot, is considered in the context of racing a radio-controlled toy car around a randomised track. Several modelling techniques are compared, and the specific properties of the acquired models that influence the quality of the evolved controller are discussed. As we aim tominimise the amount of domain knowledge used, we furtherinvestigate the relation between the assumptions about the modelled system made by particular modelling techniques and the suitability of the acquired models as bases for controller evolution. We find that none of the models acquired is good enough on its own, and that a key to evolving robustbehaviour is to evaluate controllers simultaneously on multiple models during evolution. Examples of successfully evolved racing control for the physical car are analysed.

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  • (2008)The 2007 IEEE CEC simulated car racing competitionGenetic Programming and Evolvable Machines10.1007/s10710-008-9063-09:4(295-329)Online publication date: 1-Dec-2008
  • (2007)Multi-population competitive co-evolution of car racing controllers2007 IEEE Congress on Evolutionary Computation10.1109/CEC.2007.4424998(4043-4050)Online publication date: Sep-2007
  1. Nonlinear dynamics modelling for controller evolution

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    cover image ACM Conferences
    GECCO '07: Proceedings of the 9th annual conference on Genetic and evolutionary computation
    July 2007
    2313 pages
    ISBN:9781595936974
    DOI:10.1145/1276958
    Permission to make digital or hard copies of all or part of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for components of this work owned by others than ACM must be honored. Abstracting with credit is permitted. To copy otherwise, or republish, to post on servers or to redistribute to lists, requires prior specific permission and/or a fee. Request permissions from [email protected]

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    New York, NY, United States

    Publication History

    Published: 07 July 2007

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    Author Tags

    1. evolutionary robotics
    2. forward models
    3. games
    4. neural networks
    5. system identification

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    GECCO '07 Paper Acceptance Rate 266 of 577 submissions, 46%;
    Overall Acceptance Rate 1,669 of 4,410 submissions, 38%

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    View all
    • (2008)The 2007 IEEE CEC simulated car racing competitionGenetic Programming and Evolvable Machines10.1007/s10710-008-9063-09:4(295-329)Online publication date: 1-Dec-2008
    • (2007)Multi-population competitive co-evolution of car racing controllers2007 IEEE Congress on Evolutionary Computation10.1109/CEC.2007.4424998(4043-4050)Online publication date: Sep-2007

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