Evolving spatiotemporal coordination in a modular robotic system

Mikhail Prokopenko*, Vadim Gerasimov, Ivan Tanev

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference proceeding contributionpeer-review

66 Citations (Scopus)

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 formalizing 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 generalized correlation entropy K 2 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.

Original languageEnglish
Title of host publication9th International Conference on Simulation of Adaptive Behavior, SAB 2006, Proceedings
Place of PublicationBerlin; Heidelberg
PublisherSpringer, Springer Nature
Pages558-569
Number of pages12
Volume4095 LNAI
ISBN (Print)3540386084, 9783540386087
Publication statusPublished - 2006
Externally publishedYes
Event9th International Conference on Simulation of Adaptive Behavior, SAB 2006 - Rome, Italy
Duration: 25 Sep 200629 Sep 2006

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume4095 LNAI
ISSN (Print)03029743
ISSN (Electronic)16113349

Other

Other9th International Conference on Simulation of Adaptive Behavior, SAB 2006
CountryItaly
CityRome
Period25/09/0629/09/06

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