ALPS: the age-layered population structure for reducing the problem of premature convergence
- G. Hornby
- EconomicsAnnual Conference on Genetic and Evolutionary…
- 8 July 2006
Analysis of the search behavior of ALPS finds that the offspring of individuals that are randomly generated mid-way through a run are able to move the population out of mediocre local-optima to better parts of the fitness landscape.
Modeling Building-Block Interdependency
This paper formulate a principled model of hierarchical interdependency that can be applied through many levels in a consistent manner and introduces Hierarchical If-and-only-if (H-1FF) as a canonical example.
Creating High-Level Components with a Generative Representation for Body-Brain Evolution
Applying GENRE to the task of evolving robots for locomotion and comparing it against a non-generative (direct) representation shows that the generative representation system rapidly produces robots with significantly greater fitness.
Autonomous evolution of dynamic gaits with two quadruped robots
- G. Hornby, S. Takamura, Takashi Yamamoto, M. Fujita
- Computer ScienceIEEE Transactions on robotics
- 1 June 2005
This paper describes a system for autonomously evolving dynamic gaits on two of Sony's quadruped robots and shows the evolution of robust dynamic Gaits, one of which is used on the ERS-110, the first consumer version of AIBO.
The advantages of generative grammatical encodings for physical design
This work describes a system for creating generative specifications by combining Lindenmayer systems with evolutionary algorithms, and applies it to the problem of generating table designs and finds that the generative system produces designs with higher fitness and is faster than the non-generative system.
Body-brain co-evolution using L-systems as a generative encoding
Creatures evolved by the co-evolve the morphology and controller of artificial creatures using two integrated generative processes are more complex than previous work, having an order of magnitude more parts and a higher degree of regularity.
Measuring, enabling and comparing modularity, regularity and hierarchy in evolutionary design
- G. Hornby
- Computer ScienceAnnual Conference on Genetic and Evolutionary…
- 25 June 2005
This work uses an evolutionary algorithm to evolve solutions to different sizes of a table design problem using five different representations, each with different combinations of modularity, regularity and hierarchy enabled and shows that the best performance happens when all three of these attributes are enabled.
An Evolved Antenna for Deployment on NASA's Space Technology 5 Mission
An evolved X-band antenna design and flight prototype currently on schedule to be deployed on NASA’s Space Technology 5 (ST5) spacecraft, which would represent the first evolved hardware in space, and the first deployed evolved antenna.
Automated Antenna Design with Evolutionary Algorithms
This work presents automated antenna design and optimization methods based on evolutionary algorithms that have evolved for a variety of aerospace applications and describes one proof-of-concept study and one project that produced antennas that produced on NASA’s Space Technology 5 (ST5) mission.
Generative representations for the automated design of modular physical robots
This work demonstrates an automatic design system that produces complex robots by exploiting the principles of regularity, modularity, hierarchy, and reuse, and demonstrates for the first time the evolution and construction of modular, three-dimensional, physically locomoting robots.