Frontiers in Evolutionary Robotics
Hitoshi Iba, “Frontiers in Evolutionary Robotics ”
I-Tech Education and Publishing | 2008 | ISBN: 390261319X | 586 pages | PDF | 16,9 MB
Introduction
Some problems can be efficiently solved only by teams consisting of cooperative
autonomous players (robots). Many researchers have developed methods that do not
require human designers to define specific behaviors of players for each problem. The work
reported in this chapter focuses on the techniques of evolutionary computation, which has
been regarded as one of the most promising approaches to solving such complex problems.
However, in using evolutionary computation for generating players performing tasks
cooperatively, one faces fundamental and difficult decisions, including the one regarding
the so-called credit assignment problem (Haynes et al., 1995). For example, if we can only
evaluate the global performance of each team, how do we divide up the team’s performance
among the participating players? We believe that there are some correlations among design
decisions, and therefore a comprehensive evaluation of them is essential, although several
researchers have proposed evolutionary methods for evolving teams performing specific
tasks.
This chapter is organized as follows. In Section 2, we list three fundamental decisions and
possible options in each decision in designing a method for evolving a cooperative team. We
find that there are 18 typical combinations available. Then, in Section 3, we describe the
ultimately simplified soccer game played on a one-dimensional field as a testbed for
comparative evaluation of these 18 candidate methods. Section 4 reports on the results of the
comparative evaluation of these methods, and Section 5 summarizes the work.
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