A Comparative Study of Brain Reproduction Methods for Morphologically Evolving Robots

by   Jie Luo, et al.
Vrije Universiteit Amsterdam

In the most extensive robot evolution systems, both the bodies and the brains of the robots undergo evolution and the brains of 'infant' robots are also optimized by a learning process immediately after 'birth'. This paper is concerned with the brain evolution mechanism in such a system. In particular, we compare four options obtained by combining asexual or sexual brain reproduction with Darwinian or Lamarckian evolution mechanisms. We conduct experiments in simulation with a system of evolvable modular robots on two different tasks. The results show that sexual reproduction of the robots' brains is preferable in the Darwinian framework, but the effect is the opposite in the Lamarckian system (both using the same infant learning method). Our experiments suggest that the overall best option is asexual reproduction combined with the Lamarckian framework, as it obtains better robots in terms of fitness than the other three. Considering the evolved morphologies, the different brain reproduction methods do not lead to differences. This result indicates that the morphology of the robot is mainly determined by the task and the environment, not by the brain reproduction methods.


The Effects of Learning in Morphologically Evolving Robot Systems

When controllers (brains) and morphologies (bodies) of robots simultaneo...

The Effects of the Environment and Linear Actuators on Robot Morphologies

The field of evolutionary robotics uses principles of natural evolution ...

Comparing lifetime learning methods for morphologically evolving robots

Evolving morphologies and controllers of robots simultaneously leads to ...

Environmental regulation using Plasticoding for the evolution of robots

Evolutionary robot systems are usually affected by the properties of the...

Open-endedness induced through a predator-prey scenario using modular robots

This work investigates how a predator-prey scenario can induce the emerg...

Impact of Energy Efficiency on the Morphology and Behaviour of Evolved Robots

Most evolutionary robotics studies focus on evolving some targeted behav...

Embodied Evolution in Collective Robotics: A Review

This paper provides an overview of evolutionary robotics techniques appl...

Please sign up or login with your details

Forgot password? Click here to reset