Authors
Sarah L Thomson, Léni Le Goff, Emma Hart, Edgar Buchanan
Publication date
2024/7/14
Book
Proceedings of the Genetic and Evolutionary Computation Conference
Pages
114-123
Description
Morpho-Evolution (ME) refers to the simultaneous optimisation of a robot's design and controller to maximise performance given a task and environment. Many genetic encodings have been proposed which are capable of representing design and control. Previous research has provided empirical comparisons between encodings in terms of their performance with respect to an objective function and the diversity of designs that are evaluated, however there has been no attempt to explain the observed findings. We address this by applying Local Optima Network (LON) analysis to investigate the structure of the fitness landscapes induced by three different encodings when evolving a robot for a locomotion task, shedding new light on the ease by which different fitness landscapes can be traversed by a search process. This is the first time LON analysis has been applied in the field of ME despite its popularity in …
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Scholar articles
SL Thomson, L Le Goff, E Hart, E Buchanan - Proceedings of the Genetic and Evolutionary …, 2024