PMID: 8942055Jan 1, 1995Paper

Evolving mobile robots in simulated and real environments

Artificial Life
O MiglinoStefano Nolfi

Abstract

The problem of the validity of simulation is particularly relevant for methodologies that use machine learning techniques to develop control systems for autonomous robots, as, for instance, the artificial life approach known as evolutionary robotics. In fact, although it has been demonstrated that training or evolving robots in real environments is possible, the number of trials needed to test the system discourages the use of physical robots during the training period. By evolving neural controllers for a Khepera robot in computer simulations and then transferring the agents obtained to the real environment we show that (a) an accurate model of a particular robot-environment dynamics can be built by sampling the real world through the sensors and the actuators of the robot; (b) the performance gap between the obtained behaviors in simulated and real environments may be significantly reduced by introducing a "conservative" form of noise; (c) if a decrease in performance is observed when the system is transferred to a real environment, successful and robust results can be obtained by continuing the evolutionary process in the real environment for a few generations.

Citations

Nov 16, 2001·Evolutionary Computation·J Urzelai, D Floreano
Aug 16, 2000·Artificial Life·R CalabrettaG P Wagner
Jul 25, 2006·Artificial Life·Gianluca BaldassarreStefano Nolfi
May 21, 1998·AORN Journal·E Eckberg
Dec 3, 2014·Neural Networks : the Official Journal of the International Neural Network Society·Jürgen Schmidhuber
Sep 5, 2015·PloS One·Francesco PuglieseDavide Marocco
Nov 26, 2015·Artificial Life·Kirk Y W ScheperGuido C H E de Croon
Nov 19, 2015·Evolutionary Computation·Fernando SilvaAnders Lyhne Christensen
Jun 17, 2008·Evolutionary Computation·A Agogino, K Tumer
Feb 15, 2007·Neural Computation·Jürgen SchmidhuberFaustino Gomez
Aug 10, 2017·Royal Society Open Science·Fernando SilvaAnders Lyhne Christensen
Mar 22, 2016·PloS One·Miguel DuarteAnders Lyhne Christensen
Jul 19, 2019·Frontiers in Robotics and AI·Mauro BirattariThomas Stützle
Jan 28, 2021·Frontiers in Robotics and AI·Sondre A EngebraatenKyrre Glette

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