Collaborating With A Genetic Programming System To Generate Modular Robotic Code

Abstract

While the choice of a set of primitives can strongly eect the performance of genetic programming, the design of such a set re-mains more of an art than a science. We look at a joint approach that combines both hand-coding and genetic programming to de-ne and rene primitives in the context of a creating distribute control code for modu-lar robots. We give some rules of thumb for designing and rening sets of primitives, il-lustrating the rules with lessons we learned in the course of solving several problems in control code for modular robots. 1