@inproceedings{14313745a02f4175b5cdfeaab35a4f9b,
title = "Evolving spatiotemporal coordination in a modular robotic system",
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.",
author = "Mikhail Prokopenko and Vadim Gerasimov and Ivan Tanev",
year = "2006",
language = "English",
isbn = "3540386084",
volume = "4095 LNAI",
series = "Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)",
publisher = "Springer, Springer Nature",
pages = "558--569",
booktitle = "9th International Conference on Simulation of Adaptive Behavior, SAB 2006, Proceedings",
address = "United States",
note = "9th International Conference on Simulation of Adaptive Behavior, SAB 2006 ; Conference date: 25-09-2006 Through 29-09-2006",
}