Research Output
Comparing encodings for performance and phenotypic exploration in evolving modular robots
  To investigate how encodings influence evolving the morphology and control of modular robots, we compared three encodings: a direct encoding and two generative encodings---a compositional pattern producing network (CPPN) and a Lindenmayer System (L-System). The evolutionary progression and final performance of the direct encoding and the L-System was significantly better than the CPPN. The generative encodings converge quicker than the direct encoding in terms of morphological and controller diversity.

  • Date:

    13 July 2019

  • Publication Status:

    Published

  • Publisher

    ACM

  • DOI:

    10.1145/3319619.3322054

  • Cross Ref:

    10.1145/3319619.3322054

  • Funders:

    EPSRC Engineering and Physical Sciences Research Council

Citation

Veenstra, F., Hart, E., Buchanan, E., Li, W., De Carlo, M., & Eiben, A. E. (2019). Comparing encodings for performance and phenotypic exploration in evolving modular robots. In GECCO '19: Proceedings of the Genetic and Evolutionary Computation Conference Companion. , (127-128). https://doi.org/10.1145/3319619.3322054

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