Evolutionary Robotics: The Biology, Intelligence, and Technology of Self-Organizing Machines

Stefano Nolfi, Dario Floreano

  • 出版商: MIT
  • 出版日期: 2004-01-30
  • 定價: $1,470
  • 售價: 8.0$1,176
  • 語言: 英文
  • 頁數: 332
  • 裝訂: Paperback
  • ISBN: 0262640562
  • ISBN-13: 9780262640565
  • 相關分類: 機器人製作 Robots

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Evolutionary robotics is a new technique for the automatic creation of autonomous robots. Inspired by the Darwinian principle of selective reproduction of the fittest, it views robots as autonomous artificial organisms that develop their own skills in close interaction with the environment and without human intervention. Drawing heavily on biology and ethology, it uses the tools of neural networks, genetic algorithms, dynamic systems, and biomorphic engineering. The resulting robots share with simple biological systems the characteristics of robustness, simplicity, small size, flexibility, and modularity.

In evolutionary robotics, an initial population of artificial chromosomes, each encoding the control system of a robot, is randomly created and put into the environment. Each robot is then free to act (move, look around, manipulate) according to its genetically specified controller while its performance on various tasks is automatically evaluated. The fittest robots then "reproduce" by swapping parts of their genetic material with small random mutations. The process is repeated until the "birth" of a robot that satisfies the performance criteria.

This book describes the basic concepts and methodologies of evolutionary robotics and the results achieved so far. An important feature is the clear presentation of a set of empirical experiments of increasing complexity. Software with a graphic interface, freely available on a Web page, will allow the reader to replicate and vary (in simulation and on real robots) most of the experiments.

Dario Floreano is Professor of Evolutionary and Adaptive Systems at the Swiss Federal Institute of Technology.


Table of Contents:

Acknowledgments ix
Preface xi
1 The role of self-organization for the synthesis and the understanding of behavioral systems 1
2 Evolutionary and neural techniques 19
3 How to evolve robots 49
4 Evolution of simple navigation 69
5 Power and limits of reactive intelligence 93
6 Beyond reactive intelligence 121
7 Learning and evolution 153
8 Competitive co-evolution 189
9 Encoding, mapping, and development 223
10 Complex hardware morphologies: Walking machines 241
11 Evolvable hardware 261
Conclusions 277
Notes 281
References 295
Index 317