Evolutionary Robotics: The Biology, Intelligence, and Technology of Self-Organizing Machines

Stefano Nolfi, Dario Floreano

Evolutionary Robotics: The Biology, Intelligence, and Technology of Self-Organizing Machines
  • 出版商: MIT
  • 出版日期: 2004-01-30
  • 售價: $1,470
  • 貴賓價: 9.8 折 $1,441
  • 語言: 英文
  • 頁數: 332
  • 裝訂: Paperback
  • ISBN: 0262640562
  • ISBN-13: 9780262640565
  • 相關分類: 機器人製作 Robots

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商品描述

Description:

Evolutionary robotics is a new technique for the automatic creation of autonomous robots. Inspired by the Darwinian principle of selective reproduction of the fittest, it views robots as autonomous artificial organisms that develop their own skills in close interaction with the environment and without human intervention. Drawing heavily on biology and ethology, it uses the tools of neural networks, genetic algorithms, dynamic systems, and biomorphic engineering. The resulting robots share with simple biological systems the characteristics of robustness, simplicity, small size, flexibility, and modularity.

In evolutionary robotics, an initial population of artificial chromosomes, each encoding the control system of a robot, is randomly created and put into the environment. Each robot is then free to act (move, look around, manipulate) according to its genetically specified controller while its performance on various tasks is automatically evaluated. The fittest robots then "reproduce" by swapping parts of their genetic material with small random mutations. The process is repeated until the "birth" of a robot that satisfies the performance criteria.

This book describes the basic concepts and methodologies of evolutionary robotics and the results achieved so far. An important feature is the clear presentation of a set of empirical experiments of increasing complexity. Software with a graphic interface, freely available on a Web page, will allow the reader to replicate and vary (in simulation and on real robots) most of the experiments.

Dario Floreano is Professor of Evolutionary and Adaptive Systems at the Swiss Federal Institute of Technology.

 

Table of Contents:

Acknowledgments ix
Preface xi
1 The role of self-organization for the synthesis and the understanding of behavioral systems 1
2 Evolutionary and neural techniques 19
3 How to evolve robots 49
4 Evolution of simple navigation 69
5 Power and limits of reactive intelligence 93
6 Beyond reactive intelligence 121
7 Learning and evolution 153
8 Competitive co-evolution 189
9 Encoding, mapping, and development 223
10 Complex hardware morphologies: Walking machines 241
11 Evolvable hardware 261
Conclusions 277
Notes 281
References 295
Index 317

商品描述(中文翻譯)

描述：
進化機器人學是一種自動創建自主機器人的新技術。受到適者生存的達爾文原則的啟發，它將機器人視為自主的人工生物體，與環境密切互動並且不需要人類干預來發展自己的技能。它大量借鑒生物學和行為學的知識，使用神經網絡、遺傳算法、動態系統和仿生工程的工具。由此產生的機器人與簡單的生物系統具有韌性、簡單性、體積小、靈活性和模塊化的特點。

在進化機器人學中，首先隨機創建一個初始的人工染色體群體，每個染色體編碼一個機器人的控制系統，然後將它們放入環境中。每個機器人根據其基因指定的控制器自由行動（移動、觀察、操作），同時其在各種任務上的表現會被自動評估。最適機器人通過交換其基因材料的部分並引入小的隨機突變來進行“繁殖”。這個過程重複進行，直到誕生出滿足性能標準的機器人。

本書描述了進化機器人學的基本概念和方法，以及迄今為止取得的成果。一個重要特點是清晰地呈現了一系列越來越複雜的實驗。讀者可以通過一個網頁上免費提供的圖形界面軟件，在模擬和實際機器人上複製和變化大部分實驗。

Dario Floreano是瑞士聯邦理工學院的進化和適應系統教授。

目錄：
致謝
前言
1. 自組織在行為系統合成和理解中的作用
2. 進化和神經技術
3. 仿生工程和機器人學
4. 進化機器人學的實驗方法
5. 進化機器人學的應用
6. 未來展望
參考文獻
索引

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