Evolution of a control architecture for a mobile robot

Created by W.Langdon from gp-bibliography.bib Revision:1.8051

@InProceedings{Ebner:1998c,

• author = "Marc Ebner",
• title = "Evolution of a control architecture for a mobile robot",
• booktitle = "Proceedings of the Second International Conference on Evolvable Systems: From Biology to Hardware (ICES 98)",
• year = "1998",
• editor = "Moshe Sipper and Daniel Mange and Andres Perez-Uribe",
• volume = "1478",
• series = "LNCS",
• pages = "303--310",
• address = "Lausanne, Switzerland",
• publisher_address = "Berlin",
• month = "23-25 " # sep,
• publisher = "Springer Verlag",
• keywords = "genetic algorithms, genetic programming",
• ISBN = "3-540-64954-9",
• URL = "http://www2.informatik.uni-wuerzburg.de/staff/ebner/research/publications/uniTu/gprealrob.ps.gz",
• URL = "http://citeseer.ist.psu.edu/512626.html",
• DOI = "doi:10.1007/BFb0057632",
• abstract = "Most work in evolutionary robotics used a neural net approach for control of a mobile robot. Genetic programming has mostly been used for computer simulations. We wanted to see if genetic programming is capable to evolve a hierarchical control architecture for simple reactive navigation on a large physical mobile robot. First, we evolved hierarchical control algorithms for a mobile robot using computer simulations. Then we repeated one of the experiments with a large physical mobile robot.",
• old_abstract = "Programming a robot to perform a desired task in an unknown environment is a difficult task. Due to unexpected interactions between the environment and the robot many iterations of program development are often required. Using genetic programming the robots themselves may search the space of possible programs. In an experiment which was conducted over a period of two months we evolved a behavior-based control architecture for a large sized mobile robot, a Real World Interface B21. This is the first time that a large mobile robot was used in evolutionary robotics using tree-based genetic programming. In addition, our architecture uses conditional statements to build up a hierarchical reactive control structure. Sonar sensors are used to sense the environment. Because the robot is able to exert a considerable force if it crashes into an object, safety measures had to be taken to automatically monitor the run.",
• notes = "ICES98",

}

Genetic Programming entries for Marc Ebner

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