Utilize este identificador para referenciar este registo:
http://hdl.handle.net/10071/27948
Autoria: | Silva, F. Urbano, P. Christensen, A. L. |
Editor: | Pavón, J., Duque-Méndez, N. D., and Fuentes-Fernández, R. |
Data: | 2012 |
Título próprio: | Adaptation of robot behaviour through online evolution and neuromodulated learning |
Volume: | 7637 |
Título e volume do livro: | Advances in Artificial Intelligence – IBERAMIA 2012. Lecture Notes in Computer Science |
Paginação: | 300 - 309 |
Título do evento: | 13th Ibero-American Conference on Advancesin Artificial Intelligence, IBERAMIA 2012 |
Referência bibliográfica: | Silva, F., Urbano, P., Christensen, A.L. (2012). Adaptation of robot behaviour through online evolution and neuromodulated learning. In J. Pavón, N. D. Duque-Méndez, & R. Fuentes-Fernández (Eds.) Advances in Artificial Intelligence – IBERAMIA 2012. Lecture Notes in Computer Science (vol. 7637, pp. 300-309). Springer. https://doi.org/10.1007/978-3-642-34654-5_31 |
ISSN: | 0302-9743 |
ISBN: | 978-3-642-34654-5 |
DOI (Digital Object Identifier): | 10.1007/978-3-642-34654-5_31 |
Palavras-chave: | Neural networks Online Adaptation Neuroevolution Neuromodulated learning odNEAT |
Resumo: | We propose and evaluate a novel approach to the online synthesis of neural controllers for autonomous robots. We combine online evolution of weights and network topology with neuromodulated learning. We demonstrate our method through a series of simulation-based experiments in which an e-puck-like robot must perform a dynamic concurrent foraging task. In this task, scattered food items periodically change their nutritive value or become poisonous. Our results show that when neuromodulated learning is employed, neural controllers are synthesised faster than by evolution alone. We demonstrate that the online evolutionary process is capable of generating controllers well adapted to the periodic task changes. An analysis of the evolved networks shows that they are characterised by specialised modulatory neurons that exclusively regulate the output neurons. |
Arbitragem científica: | yes |
Acesso: | Acesso Aberto |
Aparece nas coleções: | IT-CRI - Comunicações a conferências internacionais |
Ficheiros deste registo:
Ficheiro | Tamanho | Formato | |
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conferenceobject_11719.pdf | 318,87 kB | Adobe PDF | Ver/Abrir |
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