Neuro-Evolution Using Recombinational Algorithms and Embryogenesis for Robotic Control

Citation

Roy, Anthony Mathew (2010) Neuro-Evolution Using Recombinational Algorithms and Embryogenesis for Robotic Control. Dissertation (Ph.D.), California Institute of Technology. doi:10.7907/YNED-VN66. https://resolver.caltech.edu/CaltechTHESIS:06092010-140839602

Abstract

Control tasks involving dramatic nonlinearities, such as decision making, can be challenging for classical design methods. However, autonomous, stochastic design methods such as evolutionary computation have proved effective. In particular, genetic algorithms that create designs via the application of recombinational rules are robust and highly scalable. Neuro-Evolution Using Recombinational Algorithms and Embryogenesis (NEURAE) is a genetic algorithm that creates C++ programs that in turn create neural networks which can function as logic gates. The neural networks created are scalable and robust enough to feature redundancies that allow the network to function despite internal failures. An analysis of NEURAE evinces how biologically inspired phenomena apply to simulated evolution. This allows for an optimization of NEURAE that enables it to create controllers for a simulated swarm of Khepera-inspired robots.

Thesis Files