Constrained by Design: Influence of Genetic Encodings on Evolved Traits of Robots

Miras, Karine (2021) Constrained by Design: Influence of Genetic Encodings on Evolved Traits of Robots. Frontiers in Robotics and AI, 8. ISSN 2296-9144

[thumbnail of pubmed-zip/versions/2/package-entries/frobt-08-672379-r1/frobt-08-672379.pdf] Text
pubmed-zip/versions/2/package-entries/frobt-08-672379-r1/frobt-08-672379.pdf - Published Version

Download (4MB)

Abstract

Genetic encodings and their particular properties are known to have a strong influence on the success of evolutionary systems. However, the literature has widely focused on studying the effects that encodings have on performance, i.e., fitness-oriented studies. Notably, this anchoring of the literature to performance is limiting, considering that performance provides bounded information about the behavior of a robot system. In this paper, we investigate how genetic encodings constrain the space of robot phenotypes and robot behavior. In summary, we demonstrate how two generative encodings of different nature lead to very different robots and discuss these differences. Our principal contributions are creating awareness about robot encoding biases, demonstrating how such biases affect evolved morphological, control, and behavioral traits, and finally scrutinizing the trade-offs among different biases.

Item Type: Article
Subjects: Middle East Library > Mathematical Science
Depositing User: Unnamed user with email support@middle-eastlibrary.com
Date Deposited: 04 Jul 2023 04:34
Last Modified: 24 May 2024 06:43
URI: http://editor.openaccessbook.com/id/eprint/1219

Actions (login required)

View Item
View Item