ArticleFrontiers in robotics and AI2021
Constrained by Design: Influence of Genetic Encodings on Evolved Traits of Robots.
Article in Frontiers in robotics and AI, 2021. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 1 paper.
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1 citing paper in PubMed.
- Morphological Evolution: Bioinspired Methods for Analyzing Bioinspired Robots.Frontiers in robotics and AI · 2021Article
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Abstract
Genetic encodings and their particular properties are known to have a strong influence on the success of evolutionary systems. However, the literature has widely focused on studying the effects that encodings have on performance, i.e., fitness-oriented studies. Notably, this anchoring of the literature to performance is limiting, considering that performance provides bounded information about the behavior of a robot system. In this paper, we investigate how genetic encodings constrain the space of robot phenotypes and robot behavior. In summary, we demonstrate how two generative encodings of different nature lead to very different robots and discuss these differences. Our principal contributions are creating awareness about robot encoding biases, demonstrating how such biases affect evolved morphological, control, and behavioral traits, and finally scrutinizing the trade-offs among different biases.
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