Please use this identifier to cite or link to this item:
http://hdl.handle.net/10071/27948
Author(s): | Silva, F. Urbano, P. Christensen, A. L. |
Editor: | Pavón, J., Duque-Méndez, N. D., and Fuentes-Fernández, R. |
Date: | 2012 |
Title: | Adaptation of robot behaviour through online evolution and neuromodulated learning |
Volume: | 7637 |
Book title/volume: | Advances in Artificial Intelligence – IBERAMIA 2012. Lecture Notes in Computer Science |
Pages: | 300 - 309 |
Event title: | 13th Ibero-American Conference on Advancesin Artificial Intelligence, IBERAMIA 2012 |
Reference: | 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 |
Keywords: | Neural networks Online Adaptation Neuroevolution Neuromodulated learning odNEAT |
Abstract: | 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. |
Peerreviewed: | yes |
Access type: | Open Access |
Appears in Collections: | IT-CRI - Comunicações a conferências internacionais |
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conferenceobject_11719.pdf | 318,87 kB | Adobe PDF | View/Open |
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