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Influence of Mating Mechanisms in Distributed Evolution for Collective Robotics

Iñaki Fernández Pérez 1 Stéphane Sanchez 1
1 IRIT-REVA - Real Expression Artificial Life
IRIT - Institut de recherche en informatique de Toulouse
Abstract : Distributed Embodied Evolution [1] is a compelling family of approaches to learning swarm robot behavior online that exploits the intrinsic parallelism of robot swarms: each robot in the swarm runs a separate instance of an evolutionary algorithm onboard, including an internal population, and robots locally exchange genomes when meeting, which is know as the mating operator or migration policy. Since the internal populations in different robots do not contain the same individuals, these approaches have been shown to naturally maintain diversity [2], which can improve search, especially in deceptive problems. Here, using a vanilla dEE algorithm (mEDEA with task-driven selection pressure), we evaluate the influence on the fitness of the evolved behaviors of 12 different mating operators, in terms of distance (short, medium, large, and full distance-based broadcast), and in terms of frequency (constantly broadcast every timestep, every 10 timesteps, or at a rate proportionate to the genome's rank in the local population).
Keywords : Collective robotics
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Conference papers
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Contributor : Open Archive Toulouse Archive Ouverte (oatao) <>
Submitted on : Friday, June 7, 2019 - 10:58:31 AM
Last modification on : Thursday, July 2, 2020 - 10:10:12 AM



  • HAL Id : hal-02130157, version 1
  • OATAO : 22619


Iñaki Fernández Pérez, Stéphane Sanchez. Influence of Mating Mechanisms in Distributed Evolution for Collective Robotics. Workshop on the emergence and evolution of social learning, communication, language and culture in natural and artificial agents, in ALIFE 2018 (EVOSLACE 2018), Jul 2018, Tokyo, Japan. pp.18. ⟨hal-02130157⟩



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