Download:
|
by Ralf Der, Thomas Pantzer
Proc. Workhop SOAVE ’2000 (Selbstorganisation von adaptivem Verhalten, vol. 643 of Fortschritt-Berichte VDI, Reihe 10, 39–46. Ilmenau: VDI
http://www.informatik.uni-leipzig.de/~der/Veroeff/derpantz1.ps
Add To MetaCart
Abstract:
Abstract. The paper aims at demonstrating that basic behaviors can be acquired by an autonomous agent without the help by externally defined fitness functions or learning goals. For this purpose we introduce a new principle-- homeokinesis-- which is completely unspecific and yet induces specific, seemingly goal--oriented behaviors of an agent in a complex external world. The principle is based on the assumption that the agent is able of (i) learning an internal representation (self-model) of its current behavior and (ii) to adapt its behavior in such a way that the complexity gap between model and true behavior is minimized. Driven by the basic impetus of always moving and acting the agent in a noisy complex world develops smooth controlled behaviors as the minimal compromise between the high dynamical complexity of the world and the low complexity of the model. In these terms behavior may be called a byproduct (epiphenomenon) of the internal "desire " of the agent to be able of interpreting the world in simple terms. 1
Citations
|
215
|
Explorations in evolutionary robotics
– Harvey, Husbands, et al.
- 1993
|
|
162
|
Evolution of homing navigation in a real mobile robot
– Floreano, Mondada
- 1996
|
|
112
|
Challenges in evolving controllers for physical robots
– Mataric, Cliff
- 1996
|
|
60
|
Evolving non-trivial behaviors on real robots: A garbage collecting robot
– Nolfi
- 1997
|
|
56
|
Evolutionary robotics and saga: the case for hill crawling and tournament selection
– Harvey
- 1993
|
|
54
|
God save the red queen! Competition in co-evolutionary robotics
– Floreano, Nolfi
- 1997
|
|
46
|
Evolutionary neurocontrollers for autonomous mobile robots
– Floreano, Mondada
- 1998
|
|
38
|
The Wisdom of the Body
– Cannon
- 1939
|
|
36
|
From animals to animats 2
– Meyer, Roitblat, et al.
- 1993
|
|
25
|
Emergent functionality in robotic agents through on-line evolution
– Steels
- 1994
|
|
19
|
Analysing recurrent dynamical networks evolved for robot control
– Husbands, Harvey, et al.
- 1993
|
|
17
|
Analysis of evolved sensory-motor controllers
– Cliff, Husbands, et al.
- 1992
|
|
15
|
Co-evolution and ontogenetic change in competing robots
– Floreano, Nolfi, et al.
- 2001
|
|
12
|
Homeokinesis - a new principle to back up evolution with learning
– Der, Steinmetz, et al.
- 1999
|
|
5
|
Evolving non-trivial behaviours on real robots: an autonomous robot that picks up objects
– Nolfi
- 1995
|
|
1
|
Evolving visually giuded robots
– Cliff, Husbands, et al.
- 1992
|
