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Table Of Contents

1.1 Biological and artificial evolution
1.2 Autonomous robots
1.3 A simple example
1.3.1 Cleaning behavior in simulation
1.3.2 Cleaning behavior in a Khepera robot
2.1 Introduction
2.2 Biology vs. evolutionary algorithms
2.2.1 Embryological development
2.2.2 Multicellularity
2.2.3 Gene regulation in adult animals
2.2.4 Summary
2.3 Taxonomy of evolutionary algorithms
2.4 Basic operation of evolutionary algorithms
2.5 Basic components of evolutionary algorithms
2.5.1 Encoding schemes
2.5.2 Fitness assignment
2.5.3 Selection
2.5.4 Replacement
2.5.5 Crossover
2.5.6 Mutation
2.5.7 Elitism
2.6 Genetic programming
2.6.1 Tree-based genetic programming
2.6.2 Linear genetic programming
2.7 Advanced topics
2.7.1 Gray coding of binary-valued chromosomes
2.7.2 Variable-size structures
2.7.3 Selection
2.7.4 Fitness measures
2.7.5 Alternative schemes for reproduction and replacement
2.7.6 Subpopulation-based EAs
2.8 Related algorithms
Evolutionary robotics
3.1 Introduction
3.1.1 Behavior-based robotics
3.1.2 Evolving robots
3.2 Evolving single behaviors
3.2.1 Navigation
3.2.2 Box-pushing
3.2.3 Visual discrimination of objects
3.2.4 Corridor-following behavior
3.2.5 Behaviors for robot soccer
3.2.6 Motion of a robotic arm
3.3.1 Complex behaviors without explicit arbitration
3.3.2 Evolving behavioral repertoires
utility function method
3.3.4 Closing comments on behavioral organization
3.4 Other issues in evolutionary robotics
3.4.1 Balancing, walking, and hopping robots
3.4.2 Simulations vs. evolution in actual robots
3.4.3 Simultaneous evolution of body and brain
3.4.4 Simulation software
3.5 The future of evolutionary robotics
Appendix B: Finite-state machines
Appendix C: The Khepera robot
Bibliographical notes
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Evolutionary Robotics

Evolutionary Robotics

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Published by: Alex Bárbulo Carmona on Jun 03, 2011
Copyright:Attribution Non-commercial


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