NDLI: The evolution of an artificial compound eye by using adaptive hardware

Content Provider	IEEE Xplore Digital Library
Author	Lichtensteiger, L. Salomon, R.
Copyright Year	2000
Description	Author affiliation: Artificial Intelligence Lab., Zurich Univ., Switzerland (Lichtensteiger, L.)
Abstract	Object avoidance is a fundamental task of autonomous, mobile robots. For this task, the pertinent literature proposes various architectures, which vary from simple Braitenberg vehicles to camera-lens systems inspired by the compound eyes of insects. Due to certain hardware limitations, existing research resorts to prespecified sensor systems that remain fixed during all experiments and does modifications only in the software components of the controllers. By contrast, this paper is about the direct evolution of an artificial compound eye in hardware. The hardware consists of a particular robot that is able to autonomously modify the angular positions of 16 light sensors. Even though first experiments have been successful in evolving some solutions by means of evolutionary algorithms, they have also indicated that systematic comparisons between different evolutionary algorithms and codings schemes are required in order to speed up the evolutionary process. This paper summarizes some comparative simulation studies and validates their achievements on a physical robot. It turns out that these simulation studies can help to drastically improve the evolution of the eye's morphology with respect to both convergence speed and robustness if certain critical simulation parameters (e.g., noise level) are adopted from the physical robot.
Starting Page	1144
Ending Page	1151
File Size	824865
Page Count	8
File Format	PDF
ISBN	0780363752
DOI	10.1109/CEC.2000.870777
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2000-07-16
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Hardware Evolutionary computation Mobile robots Computer architecture Remotely operated vehicles Eyes Insects Sensor systems Control systems Robot sensing systems
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
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3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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