Evolution of a control architecture for a mobile robot
Created by W.Langdon from
gp-bibliography.bib Revision:1.7975
- @InProceedings{Ebner:1998c,
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author = "Marc Ebner",
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title = "Evolution of a control architecture for a mobile
robot",
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booktitle = "Proceedings of the Second International Conference on
Evolvable Systems: From Biology to Hardware (ICES 98)",
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year = "1998",
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editor = "Moshe Sipper and Daniel Mange and Andres Perez-Uribe",
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volume = "1478",
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series = "LNCS",
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pages = "303--310",
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address = "Lausanne, Switzerland",
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publisher_address = "Berlin",
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month = "23-25 " # sep,
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publisher = "Springer Verlag",
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keywords = "genetic algorithms, genetic programming",
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ISBN = "3-540-64954-9",
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URL = "http://www2.informatik.uni-wuerzburg.de/staff/ebner/research/publications/uniTu/gprealrob.ps.gz",
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URL = "http://citeseer.ist.psu.edu/512626.html",
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DOI = "doi:10.1007/BFb0057632",
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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.",
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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.",
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notes = "ICES98",
- }
Genetic Programming entries for
Marc Ebner
Citations