- author = "Peter Nordin and Wolfgang Banzhaf",
- title = "Genetic Programming Controlling a Miniature Robot",
- booktitle = "Working Notes for the AAAI Symposium on Genetic Programming",
- year = "1995",
- editor = "E. V. Siegel and J. R. Koza",
- pages = "61--67",
- address = "MIT, Cambridge, MA, USA",
- publisher_address = "445 Burgess Drive, Menlo Park, CA 94025, USA",
- month = "10--12 " # nov,
- publisher = "AAAI",
- keywords = "genetic algorithms, genetic programming",
-
URL = "
http://www.aaai.org/Papers/Symposia/Fall/1995/FS-95-01/FS95-01-008.pdf",
-
URL = "http://coblitz.codeen.org:3125/citeseer.ist.psu.edu/cache/papers/cs/599/ftp:zSzzSzlumpi.informatik.uni-dortmund.dezSzpubzSzbiocompzSzpaperszSzAAAI-robot.pdf/nordin95genetic.pdf",
-
URL = "
http://citeseer.ist.psu.edu/nordin95genetic.html",
-
URL = "http://www.aaai.org/Library/Symposia/Fall/fs95-01.php",
- size = "6.05 pages",
- abstract = "We have evaluated the use of Genetic Programming to directly control a miniature robot. The goal of the GP-system was to evolve real-time obstacle avoiding behaviour from sensorial data. The evolved programs are used in a sense-think-act context. We employed a novel technique to enable real time learning with a real robot. The technique uses a probabilistic sampling of the environment where each individual is tested on a new real-time fitness case in a tournament selection procedure. The fitness has a pain and a pleasure part. The negative part of fitness, the pain, is simply the sum of the proximity sensor values. In order to keep the robot from standing still or gyrating, it has a pleasure component of fitness. It gets pleasure from going straight and fast. The evolved algorithm shows robust performance even if the robot is lifted and placed in a completely different environment or if obstacles are moved around.",
-
notes = "Khepera Sun workstation. Steady state tournament
selection, Pop=30. Each fitness case lasts 400
milliseconds (run 40-60 minutes) CGPS Sun-4 machine
code linear GP
AAAI-95f GP. Part of \cite{siegel:1995:aaai-fgp} {\em Telephone:} 415-328-3123 {\em Fax:} 415-321-4457 {\em email} info@aaai.org {\em URL:} http://www.aaai.org/
See also \cite{nordin:1996:aigp2}",
