Robot Space Exploration by Trial and Error

Abstract

This paper argues that evolutionary robotics (ER) techniques can act as useful and potentially wide ranging tools in the scientific investigation of adaptive behaviour. After discussing the kinds of investigations ER can play a central role in, a concrete example is presented. We conclude that these kinds of studies are not only scientifically useful, but are necessary for the field to develop as an engineering methodology for autonomous robotics. 1 Introduction Evolutionary robotics (ER) involves evaluating, over a number of generations, whole populations of autonomous robot control systems specified by artificial genotypes. These are interbred using a Darwinian scheme in which the fittest individuals are most likely to produce offspring. Fitness is measured in terms of how good a robot's behaviour is according to some task-based evaluation criterion. This particular flavour of new-wave autonomous robotics was originally proposed as an automatic alternative to hand design of control...