3 papers
cs.RO2024
An Investigation of the Factors Influencing Evolutionary Dynamics in the Joint Evolution of Robot Body and Control
Léni K. Le Goff, Edgar Buchanan, Emma Hart
In evolutionary robotics, jointly optimising the design and the controller of robots is a challenging task due to the huge complexity of the solution space formed by the possible c…
cs.AI2024
Understanding fitness landscapes in morpho-evolution via local optima networks
Sarah L. Thomson, Léni K. Le Goff, Emma Hart +1
Morpho-evolution (ME) refers to the simultaneous optimisation of a robot's design and controller to maximise performance given a task and environment. Many genetic encodings have b…
cs.RO2021
Morpho-evolution with learning using a controller archive as an inheritance mechanism
Léni K. Le Goff, Edgar Buchanan, Emma Hart +9
The joint optimisation of body-plan and control via evolutionary processes can be challenging in rich morphological spaces in which offspring can have body-plans that are very diff…