NDLI: Incremental evolution of neurocontrollers with a diffusion-reaction mechanism of neuromodulators

Content Provider	IEEE Xplore Digital Library
Author	Kawai, K. Ishiguro, A. Eggenberger, P.
Copyright Year	2001
Description	Author affiliation: Dept. of Computational Sci. & Eng., Nagoya Univ., Japan (Kawai, K.)
Abstract	Recently, the evolutionary robotics (ER) approach has attracted attention in the field of robotics and artificial life, since it can automatically synthesize controllers by taking the embodiment and the interaction dynamics with the environment into account. However, the ER approach still has several issues to be solved. One is that it becomes significantly difficult to evolve the whole controller in one go (1-shot evolution), as task complexity and/or environment interaction dynamics increases. This is called the bootstrap problem. It is necessary to develop a method that can efficiently increase a controllers' ability without impairing the previously obtained ones. We propose a method for incremental evolution of neurocontrollers by introducing a receptor-ligand concept, the polymorphic property of neural circuits through diffusion-reaction mechanism of chemical substances, so-called neuromodulators. To investigate the effectiveness of our approach, we take a peg-pushing task, which requires an appropriate sequence of behavior to accomplish a task, as a practical example.
Sponsorship	IEEE Ind. Electron. Soc.
Starting Page	2384
Ending Page	2391
File Size	959598
Page Count	8
File Format	PDF
ISBN	0780366123
DOI	10.1109/IROS.2001.976426
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2001-10-29
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Neurocontrollers Erbium Automatic control Robotics and automation Shape control Robot sensing systems Mechanical factors Circuits Size control Artificial neural networks
Content Type	Text
Resource Type	Article

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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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