Influence of Selection Pressure in Online, Distributed Evolutionary Robotics
Identifieur interne : 000469 ( Main/Exploration ); précédent : 000468; suivant : 000470Influence of Selection Pressure in Online, Distributed Evolutionary Robotics
Auteurs : I Aki Fernández Pérez [France] ; Amine Boumaza [France] ; François Charpillet [France]Source :
Abstract
The effect of selection pressure on evolution in centralized evolutionary algorithms (EA’s) is relatively well understood. Selection pressure pushes evolution toward better performing individuals. However, distributed EA’s in an Evolutionary Robotics (ER) context differ in that the population is distributed across the agents, and a global vision of all the individuals is not available. In this paper, we analyze the influence of selection pressure in such a distributed context. We propose a version of mEDEA that adds a selection pressure, and evaluate its effect on two multi-robot tasks: navigation and obstacle avoidance, and collective foraging. Experiments show that even small intensities of selection pressure lead to good performances, and that performance increases with selection pressure. This is opposed to the lower selection pressure that is usually preferred in centralized approaches to avoid stagnating in local optima.
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CS 25233 - 54052 Nancy cedex</addrLine><country key="FR"></country></address><ref type="url">http://www.univ-lorraine.fr/</ref></desc></org></tutelle><tutelle name="UMR7503" active="#struct-441569" type="indirect"><org type="institution" xml:id="struct-441569" status="VALID"><idno type="ISNI">0000000122597504</idno><idno type="IdRef">02636817X</idno><orgName>Centre National de la Recherche Scientifique</orgName><orgName type="acronym">CNRS</orgName><date type="start">1939-10-19</date><desc><address><country key="FR"></country></address><ref type="url">http://www.cnrs.fr/</ref></desc></org></tutelle></tutelles></hal:affiliation><country>France</country><placeName><settlement type="city">Nancy</settlement><settlement type="city">Metz</settlement><region type="region" nuts="2">Grand Est</region><region type="old region" nuts="2">Lorraine (région)</region></placeName><orgName type="university">Université de Lorraine</orgName></affiliation></author><author><name sortKey="Charpillet, Francois" sort="Charpillet, Francois" uniqKey="Charpillet F" first="François" last="Charpillet">François Charpillet</name><affiliation wicri:level="1"><hal:affiliation type="researchteam" xml:id="struct-415996" status="VALID"><idno type="RNSR">201521241C</idno><orgName>Lifelong Autonomy and interaction skills for Robots in a Sensing ENvironment</orgName><orgName type="acronym">LARSEN</orgName><desc><address><country key="FR"></country></address><ref type="url">http://www.inria.fr/equipes/larsen</ref></desc><listRelation><relation active="#struct-129671" type="direct"></relation><relation active="#struct-300009" type="indirect"></relation><relation active="#struct-423090" type="direct"></relation><relation active="#struct-206040" type="indirect"></relation><relation active="#struct-413289" type="indirect"></relation><relation name="UMR7503" active="#struct-441569" type="indirect"></relation></listRelation><tutelles><tutelle active="#struct-129671" type="direct"><org type="laboratory" xml:id="struct-129671" status="VALID"><idno type="RNSR">198618246Y</idno><orgName>INRIA Nancy - Grand Est</orgName><desc><address><addrLine>615 rue du Jardin Botanique 54600 Villers-lès-Nancy</addrLine><country key="FR"></country></address><ref type="url">http://www.inria.fr/nancy</ref></desc><listRelation><relation active="#struct-300009" type="direct"></relation></listRelation></org></tutelle><tutelle active="#struct-300009" type="indirect"><org type="institution" xml:id="struct-300009" status="VALID"><orgName>Institut National de Recherche en Informatique et en Automatique</orgName><orgName type="acronym">Inria</orgName><desc><address><addrLine>Domaine de VoluceauRocquencourt - BP 10578153 Le Chesnay Cedex</addrLine><country key="FR"></country></address><ref type="url">http://www.inria.fr/en/</ref></desc></org></tutelle><tutelle active="#struct-423090" type="direct"><org type="department" xml:id="struct-423090" status="VALID"><orgName>Department of Complex Systems, Artificial Intelligence & Robotics</orgName><orgName type="acronym">LORIA - AIS</orgName><desc><address><country key="FR"></country></address><ref type="url">http://www.loria.fr/la-recherche-en/departements/complex-system-and-artificial-intelligence</ref></desc><listRelation><relation active="#struct-206040" type="direct"></relation><relation active="#struct-300009" type="indirect"></relation><relation active="#struct-413289" type="indirect"></relation><relation name="UMR7503" active="#struct-441569" type="indirect"></relation></listRelation></org></tutelle><tutelle active="#struct-206040" type="indirect"><org type="laboratory" xml:id="struct-206040" status="VALID"><idno type="IdRef">067077927</idno><idno type="RNSR">198912571S</idno><idno type="IdUnivLorraine">[UL]RSI--</idno><orgName>Laboratoire Lorrain de Recherche en Informatique et ses Applications</orgName><orgName type="acronym">LORIA</orgName><date type="start">2012-01-01</date><desc><address><addrLine>Campus Scientifique BP 239 54506 Vandoeuvre-lès-Nancy Cedex</addrLine><country key="FR"></country></address><ref type="url">http://www.loria.fr</ref></desc><listRelation><relation active="#struct-300009" type="direct"></relation><relation active="#struct-413289" type="direct"></relation><relation name="UMR7503" active="#struct-441569" type="direct"></relation></listRelation></org></tutelle><tutelle active="#struct-413289" type="indirect"><org type="institution" xml:id="struct-413289" status="VALID"><idno type="IdRef">157040569</idno><idno type="IdUnivLorraine">[UL]100--</idno><orgName>Université de Lorraine</orgName><orgName type="acronym">UL</orgName><date type="start">2012-01-01</date><desc><address><addrLine>34 cours Léopold - CS 25233 - 54052 Nancy cedex</addrLine><country key="FR"></country></address><ref type="url">http://www.univ-lorraine.fr/</ref></desc></org></tutelle><tutelle name="UMR7503" active="#struct-441569" type="indirect"><org type="institution" xml:id="struct-441569" status="VALID"><idno type="ISNI">0000000122597504</idno><idno type="IdRef">02636817X</idno><orgName>Centre National de la Recherche Scientifique</orgName><orgName type="acronym">CNRS</orgName><date type="start">1939-10-19</date><desc><address><country key="FR"></country></address><ref type="url">http://www.cnrs.fr/</ref></desc></org></tutelle></tutelles></hal:affiliation><country>France</country><placeName><settlement type="city">Nancy</settlement><settlement type="city">Metz</settlement><region type="region" nuts="2">Grand Est</region><region type="old region" nuts="2">Lorraine (région)</region></placeName><orgName type="university">Université de Lorraine</orgName></affiliation></author></analytic></biblStruct></sourceDesc></fileDesc><profileDesc><textClass></textClass></profileDesc></teiHeader><front><div type="abstract" xml:lang="en">The effect of selection pressure on evolution in centralized evolutionary algorithms (EA’s) is relatively well understood. Selection pressure pushes evolution toward better performing individuals. However, distributed EA’s in an Evolutionary Robotics (ER) context differ in that the population is distributed across the agents, and a global vision of all the individuals is not available. In this paper, we analyze the influence of selection pressure in such a distributed context. We propose a version of mEDEA that adds a selection pressure, and evaluate its effect on two multi-robot tasks: navigation and obstacle avoidance, and collective foraging. Experiments show that even small intensities of selection pressure lead to good performances, and that performance increases with selection pressure. This is opposed to the lower selection pressure that is usually preferred in centralized approaches to avoid stagnating in local optima.</div></front></TEI><affiliations><list><country><li>France</li></country><region><li>Grand Est</li><li>Lorraine (région)</li></region><settlement><li>Metz</li><li>Nancy</li></settlement><orgName><li>Université de Lorraine</li></orgName></list><tree><country name="France"><region name="Grand Est"><name sortKey="Fernandez Perez, I Aki" sort="Fernandez Perez, I Aki" uniqKey="Fernandez Perez I" first="I Aki" last="Fernández Pérez">I Aki Fernández Pérez</name></region><name sortKey="Boumaza, Amine" sort="Boumaza, Amine" uniqKey="Boumaza A" first="Amine" last="Boumaza">Amine Boumaza</name><name sortKey="Charpillet, Francois" sort="Charpillet, Francois" uniqKey="Charpillet F" first="François" last="Charpillet">François Charpillet</name></country></tree></affiliations></record>Pour manipuler ce document sous Unix (Dilib)
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