Journal
GENETIC PROGRAMMING AND EVOLVABLE MACHINES
Volume 13, Issue 2, Pages 239-263Publisher
SPRINGER
DOI: 10.1007/s10710-011-9152-3
Keywords
Genetic programming; Evolutionary robotics; Service robotics; Applications
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We investigate the application of simulation-based genetic programming to evolve controllers that perform high-level tasks on a service robot. As a case study, we synthesize a controller for a guide robot that manages the visitor traffic flow in an exhibition space in order to maximize the enjoyment of the visitors. We used genetic programming in a low-fidelity simulation to evolve a controller for this task, which was then transferred to a service robot. An experimental evaluation of the evolved controller in both simulation and on the actual service robot shows that it performs well compared to hand-coded heuristics, and performs comparably to a human operator.
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