Evolutionary Robotics: Exploring New Horizons

Stéphane Doncieux (1, 2) , Jean-Baptiste Mouret (1) , Nicolas Bredeche (3, 4) , Vincent Padois (1, 2)

1 ISIR - Institut des Systèmes Intelligents et de Robotique
2 AMAC
3 TAO - Machine Learning and Optimisation
4 LRI - Laboratoire de Recherche en Informatique

This paper considers the field of Evolutionary Robotics (ER) from the perspective of its potential users: roboticists. The core hypothesis motivating this field of research is discussed, as well as the potential use of ER in a robot design process. Four main aspects of ER are presented: (a) ER as an automatic parameter tuning procedure, which is the most mature application and is used to solve real robotics problem, (b) evolutionary-aided design, which may benefit the designer as an efficient tool to build robotic systems (c) ER for online adaptation, i.e. continuous adaptation to changing environment or robot features and (d) automatic synthesis, which corresponds to the automatic design of a mechatronic device and its control system. Critical issues are also presented as well as current trends and pespectives in ER. A section is devoted to a roboticist's point of view and the last section discusses the current status of the field and makes some suggestions to increase its maturity.

Domaines: Intelligence artificielle [cs.AI]

Stéphane Doncieux, Jean-Baptiste Mouret, Nicolas Bredeche, Vincent Padois. Evolutionary Robotics: Exploring New Horizons. Springer Series: Studies in Computational Intelligence. New Horizons in Evolutionary Robotics, Springer, pp.3-25, 2011. ⟨inria-00566896⟩