Evolution of Obstacle Avoidance Behaviour: Using Noise to Promote Robust Solutions

Created by W.Langdon from gp-bibliography.bib Revision:1.7630

@InCollection{kinnear:reynolds,

• author = "Craig W. Reynolds",
• title = "Evolution of Obstacle Avoidance Behaviour: Using Noise to Promote Robust Solutions",
• institution = "Electronic Arts",
• booktitle = "Advances in Genetic Programming",
• publisher = "MIT Press",
• editor = "Kenneth E. {Kinnear, Jr.}",
• year = "1994",
• pages = "221--241",
• chapter = "10",
• keywords = "genetic algorithms, genetic programming",
• URL = "http://www.amazon.co.uk/Advances-Genetic-Programming-Complex-Adaptive/dp/0262111888",
• URL = "http://cognet.mit.edu/sites/default/files/books/9780262277181/pdfs/9780262277181_chap10.pdf",
• DOI = "doi:10.7551/mitpress/1108.003.0015",
• size = "21 pages",
• abstract = "This chapter reports on investigations into the evolution of reactive control programs for obstacle avoidance in a robot like simulated vehicle for a corridor-following task. The focus of these experiments is the development of robust, general purpose controllers; in contrast to the brittle, overly specific controllers evolved in previous work. In these experiments, the evolved control program is invoked once per simulation step. Using proximity sensors environment and steers the vehicle to avoid collision with obstacles. Forward motion is constant and automatic.

  The use of noise appears to discourage brittle solutions. Because those opportunistic solutions are easier to evolve, discouraging them makes the problem harder. In this sense, adding noise has an effect similar to increasing the number of fitness trials in the deterministic (non-noisy) case. It is possible to over-fit a finite deterministic training set Appropriate use of noise should discourage over-fitting.

  The side-effect of adding noise to the fitness test is that it inevitably produces noise in the fitness value determined for an individual. Fitness testing becomes stochastic and repeated fitness tests of identical programs yield differing results. This fitness noise and the associated variance in fitness values serves to mask the true fitness of an individual. When the variance due to noise is comparable to the variance due to genotype, the progress of evolution is markedly slowed.",

• notes = "See also \cite{SAB92:reynolds}, \cite{Alife3:reynolds} but only a single vehicle rather than herd, no preditor, task is to move along bendy corridor using noisy sensors. 'When the variance (in the fitness) due to noise is comparable to the variance due to genotype, the progress of evolution is markedly slow' ?

  Without noise evolved controllers brittle. THESE EXPERIMENTS HAVE NOT YET PRODUCED A ROBUST CONTROLLER

  Part of \cite{kinnear:book}",

}

Genetic Programming entries for Craig W Reynolds

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