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

318 Pages·2000·22.466 MB·English

by  Stefano Nolfi, Dario Floreano

EvolutionRaorbyo tics
IntelliRgoebnott asn dA utonomouAsg ents
RonaCl.Ad r kiend,i tor
Behavior-Based Robotics
RonaCl.dA rki1n9,9 8
RoboSth apinAgn:E xperimiennB te haviEonrg ineering
MarcDoo riagnoMd a rcCoo lomb1e9t9ti8,
Layered LeairnnM iunlgt iagSeynstt emAs W:i nniAnpgp roacthoR obotSiocc cer
PetSetro n2e0,0 0
EvolutioRnoabroyt iTcshe:B iologIyn,t elligaenndcT ee,c hnoloofgSye lj�OrganiMzai­ng
chines
StefNaonloafi n dD arFiioo re2a0n0o0,
EvolutionRaorbyo tics
TheB iologIyn,t elligaenndcT eec,h noloogfyS elf-OrganMiazcihnign es
StefaNnool fia ndD ariFol oreano
A BradfoBrodo k
TheM IT Press
CambridgMea,s sachusetts
London, England
© 2000M assachusIentsttsi toufTt eec hnology
Allr ighrtess ervNeod p.a rotf t hibso okm ayb er eproduicnea dn yf ormb ya nye lectroonrmi ecc hanicmaela ns
(includpihnogt ocopyriencgo.r dionrig n.f ormation asntdor reatgrei ewviatlh)o puetr missiinow nr itifnrgo mt he
publisher.
This bowaosks eitn T imeRso manb yt hea uthor utshieIt\n TgP( documenptr eparastyisotne m.
Printaenddb oundi nt heU niteSdt atoefsA merica.
LibraorfyC ongreCsast aloging-in-PuDbaltiac ation
NolfiS.t efano.
Evolutionraorbyo titchse:b iologiyn,t elligaenndct ee,c hnoloogfys elf­
/
organizing macShtienfaeNnsoo l fiD,a riFol oreano.
p. cm.- (Intellriogbeontatsn d a utonomoaugse nts)
"AB radfobrodo k."
Includbeisb liograprheifcearle nacnedis n dex.
ISBN0 -262-1407(0h-ca5:I kp.a per)
I. l.
EvolutioRnoabroyt icsF.l oreaDnaor,i IoI.T. i tlIeI.IS .e ries.
TJ211.3N76.5 2000
698.8'92--dc21 00-028172
CIP
toM ariaan dL etizia-SN
toK risztina-DF
Contents
Acknowledgments ix
Preface Xl
1 Ther oloef s elf-organifzoartt ihoesn y ntheasnidst he
understandoifbn egh aviosryaslt ems
2 Evolutionaanrdyn euratle chniques 19
3 How toe volvreo bots 49
4 Evolutioofsn i mplnea vigation 69
5 Powera ndl imiotfsr eactiivnet elligence 93
6 Beyonrde actiivnet elligence 121
7 Learnianngd e volution 153
8 Competitciov-ee volution 189
9 Encodinmga,p pinga,n dd evelopment 223
10 Complehxa rdwarmeo rphologiWeasl:k inmga chines 241
11 Evolvabhlaer dware 261
Conclusions 277
Notes 281
References 295
Index 317
Acknowledgments
Theo rigoifnt sh ibso ogko b actko m orteh atne yne aargso w hetnh aeu thboergsa n
exploervionlgu otfia ornt ifiocrigaaln iasttm hsNe a tioRneasle aCrocuhn ciinRl o me.
DomeniPcaor ipslia yaef du ndamernotliaengl e ttuisni gn terienst theifidse lsdh,a ring
hiisd eaanspd, r oviadr ienmga rksatbilmyu laantfdir nige nednlvyi ronHmieosnp te.an n d
curimoiunshd a hsa dag reiamtp aocnto uarp protaosc chi eanncdte e chnoalnodhg iys,
contribcuatbnie fo onusni dnm anpyl actehsr ougthhobiuosto k.
LatoenrD, F m ovetdot hLea boraotfMo ircyr oprocaensdIs notresr f(aLcAeMsIa )t
thSew isFse deIrnaslt iotfTu etceh nolLoaguys,a (nEnPeF wLh)e rFer anceMsocnod ada,
EdoF ranAznid,r Geu ignaanrdJd e an-DNaincieowlue dr dee veloapn ienwmg i niature
mobirloeb footrr e seairnbc iho -insapnidar deadp tsiyvset eTmhsei. n novactoinvcee pt
oft hKeh eperroab hoatbs e einn strumfeosnrht aaploi unmrge thodoilnEo vgoyl utionary
Robotaincds s itsiu lsleb dy h undroefdp se opilnoe u rre seacrocmhm uniFtrya.n cesco
Mondahdaabs e eens senttogi eaitlat l slt arttope rdo,v iindtee reisdteaiannsdfg e edback,
andt oc ontinusouupspluoysrw ti tahls lo rotfts e chnoltoogoielcvsae wlnh ehne i sv ery
buswyi thhi cso mpaJneya.n -DNaincioeultd hL,eA MId irecatnodarm anw itahg reat
senfsoeir n novahtaicsor ne,a ttheredi gehntv ironfmoceran rtr yoiunttgh irse seaarncdh
haasl wasyusp pourstw eidte hn thusainadgse mn erosity.
TakasGhoim ia,g lobe-trruontntiaecn rog m pawniyt ghr evaits iionrn osb otniecws ,
artifiicnitaell liagnedmn acnek,i rneda,l iezaerdol nyt hiem portoafnE cveo lutionary
RobotAilcosn.tg h eyseea hresh apsr oviudswe idt ohp portutnoli itnwikie tsoh t hceorl ­
leagaureosu tnhdwe o rladn mde este veirnatle repsetoipfnlrgeo r me seaarncidhn dustry.
Manyp eopaltte h Ree seaGrrcohu opfA rtifiLciifaielnR ome( GRALh)a vceo n­
tribuitnae w di drea nogfei nvaluwaabylsWe.e t haRnakff aeClael abrAentgteaCl,ao n ­
geloFseid,e rCieccoc oDnain,i Deelnea rHoe,n rHiaku tLoupn dD,a viMdaer ocFciol,i ppo
MenczaenrdL, u iPgaig liaamroinnogit heOrrsa.z Miiog liinnpo a rticsuilganri,fi cantly
contritbogu etneedr tahtieed efaosu nidnt hibso oAkt.E PFLJ,o seUbraz ehlaabsie ean
companoifso env efrrauli dtifsuclu sasnidho ancssa rroiueitdm poretxapnetr immeennt­s
tionientd h bioso Hke.h aasl spor ovimduecdfh e edboancv ka ridoruasof ftt sh bioso k.
InmaHna rvePyh,iH lu sbanadnsdA, d riTahno mpsooftn h "eS ussgerxo uhpa"v e
beeonu ral teerg oa lontgh eyseea rtsh,pe e rsownistw hh omw ew oulcdo mpaarned
discouusrrse sublottwshi thtihnse c ienctiirficacun idit nv ariboaursas r outnhdwe o rld.
Theciorn tritboua tritoinfie cvioallua tnitdoo en v olutiroonbaortiyisv c esri ym poratnadn t
descrtihbreodu gthhobiuosto k.
Seveortahlpe ero phlaev ceo ntriibnuo tneewd a yo ra nottheotr h ibso ookv etrh e
lasyte arisn,c luTdoimnZ gi emkJeu,Tn a nJie,fE fl maann,dV alenBtrianiot ewnhboe rg
ofteonff eruestd h peo ssibtiodl iistcytu hsoesff sproifhn igis m aginVeahriyc l(e91s8 4i)n
compaonfhy i fse llnoewu rophysiologists.
AtM ITP resHse,n rSyt anBtroand fgoarvdte h ien iteinatlh ussiuapspttoihrcat at l -
loweudst os tatrhtpi rso jLeacttoe.nr B, o bP riaonrhd i sst arffe -orgatnhpierz oejdae ncdt
efficiemnatnlaygt ehdre e alizoaftt hibioosno ikna v erfyr ienadtlmyo sphere.
Thea uthaocrksn owltehdfego er ward-sluopopkfoirrnotgCm N Ra ndE PFLD.F a lso
acknowltehdSegw eissN sa tioSncaile Fnocuen datgriaonnnrt,6. 2 0-58t0h4aa9tl, l owed
compleotfti hobinos o akn cdo ntinuoaftt hipeor no ject.
Both auhtahveoerq su aclolnyt ritbout thceeod n teonftt hsib so okI.na dditSiNo n,
effectively tkhpierc okj-aesnctadtal rwtameyadsd seu rteh acto ntinpuroougsrw eassns o t
hampebryeo dt hienrc ompirnogj eScNta sl.sp oua tm ajoerf fionrp tr epatrhicena gm era­
readvye rsfiootrnh per esIstw. a sa p leastuomr aek teh fien aald justmteongtesti hne r
Romea ndd iscoovneemr o rtei mheo ww elolu vri sioofne sv olutiroonbaortmyia ctsc h.
Wet hitnhkat thb ioso hka gsr eabtelnye fiftreodtm h hiosm ogenaenihdto ypt eh ayto uw ill
proafintd ernejaodyii tn.g
Romaa nLda usanMnaey2, 0 00.
Preface
Evolutiroonbaortiyisa c n se wt echnifqoauru et omactrieca toifao unt onomrooubso ts.
Iti si nspibryte hdde a rwinpirainn coifps leel ecrteipvreo duocftt hifieot nt eIstit sa.
newa pprowahcihcl ho oaktsr oboatsas u tonomaorutsi fiocrigaaln itshmadste vetlhoepi r
owns kiilnlc sl oisnet erawcitttihho eenn vironwmietnhtho uumta inn terveHnetaivoinl.y
drawifnrgo nma tusrcaile nlciekbsei oloagnyde tholeovgoyl,u tiroonbaortmyia ckse s
usoef t oolliskn ee urnaelt wogreknse,at ligco ridtyhnmasm,si ycs teamnsdb, i omorphic
engineering.
Thet eremv olutioronbaortyi hcsa bse einn trodounclqeyud i rteec en(tCllyiH ffa,r vey
anHdu sba1n9d9 3)t,h iebd ueotafr epresetnhcteoi nntgsr yoslt oefamr obaosat n a rtificial
chromossoumbej teotc htle a wosfg enetaincdos fn atusrealle cdtaitobenas c tkot he end
oft h1e9 80w'hse tnh fier ssti mulaartteidfi ocrigaaln iwsimtashs ensmoortyo sry stem
begaenv olvoincn ogm pustcerre eAntts h.at ti mheo,w evreerar,lo bowtesrs et ill machines
tharte quiarcecdu rpartoeg ramemfifnogar ntdcs a remfaunli pulTaotwiaotrnhd.e oefn d
thapte riaof de,ew n ginbeeegraqsnu estisoonmioenft g h bea spirci ncoifpr loebdsoe ts ign
andc amuep w itahn ewg eneraotfri oobno tthsas th ariemdp orcthaanrta ctewriitsht ics
simpblieo losgyisctaelrm osb:u stsniemspsl,is cmiastlyil,z fl ee,x ibimloidtuyla,Ar biotvye.
altlh,e rsoeb owtesrd ee sigsnote hdat th ecyo ubledp rogramamnecddo ntroblypl eeodp le
witdhi fferbeanctk groaunndld esv eolfts e chnsikcialIlln ts h.ye e a1r9s9 a2n d1 99t3h,e
firsetx perimoenan rttsi fiecvioallu otfia ount onomrooubsow tesrr ee porbtyoe udtr e am
att hSew isFse deIrnaslt iotfTu etceh noilnoL gayu sanbnyae t ,e aamtt hUen iverosfi ty
SussaetBx r ighatnodbn y,a t eaamtt hUen iverosfSi otuyt hCearlni foTrhnesi uac.c ess
andp otenotfit ahlersse es eartcrhiegsga ew rheodln ee wa ctiivnie tvyo lutiroonbaortyi cs
inl abasc roEsusr oJpaep,a ann,td h Uen itSetda tes.
Int hvee rlya fsetyw e aervso lutiroonbaorthyiag csas t hetrhieend t eorfael satr cgoem ­
muniotfry e searwcihtedhri sf ferreesnetai rncthe raensdbt asc kgro(urnadnsgf irnoAgmI
anrdo bottiobc iso,l aongcdyo gnistciiveent cote hs,et uodfys ocibaelh avCioonrt)i.n uous
investgmreonwtat,nh pd,r ogrienes vso lutiroonbaorthyia ccsas u saes du bstamnattiuarla ­
tiont homefe thodoalnodog fty h ies suiensv olavnedad tt, h sea mtei mhea gse neraa ted
diversiofifct ahtbeia osmnie ct hodoTlhoigbsyo .op kr oviadc eosm prehednessicvrei ption
ofw haetv olutiroonbaortiyiso c,fws h aitts sc ienatnidtfi ecc hnolmoigliiaceraueol ,f t he
varimoeutsh oedmsp loyoeftd h,re e sualcthsi esvofe adar n,od f t hfeu tudrier ectTihoen s.
booaki mastc laroifet xyp lanaavtoiiodnai,smn ugc ahs p ossi(boalrce c uraetxepllya ining)
scienjtairfigcTo hner. e adiesgr e ntilnyt rodtuotc hesedu bjfeocltl oawh iinsgt oarnidc al
logipcaatlTh h.eb oodke scrtihbmeeo ssu ts etde chni(qgueensea tligco rintehumrnsae,lt ­
workest,c p.r)e,s esnetvsee rxaple rimoefin ntcsr eacsoimnpgl etxoigteytw hietrrhe lated
issuaests h eayr iasnesd,h owtshm eo sptr omisfiuntgud rier ections.
1
Ther oloefs elf-organfioztrah steyi notnh aensdit sh uen derstaonfd ing
behavisoyrsatle ms
1.1 Introduction
Theb asiidce bae hienvdo lutiroonbaortgyio ceasss f oll(oswesfie g ur1e1. )A.n i nitial
populaotfdi ioffne raerntti ficchiraolm osoemaeceshn, c odtihncego ntsryoslt (eamn d
sometitmhemeso rpholoofg ryao) b oatrr,ea ndocmrleya atnedpd u itn t heen vironment.
Eacrho b(opth ysoirsc iamlu laitste hdel)ne f tr eteoa c(tm ovleo,oa kr oumnadn,i pulate)
accordtioan g ge netiscpaelcliycfi oendt rowlhlieilrtep s e rformoanvn acrei toaussik ss
automateivcaallulaTyth eefid t.t est arraoelb loottwsoer de prod(usceex uoaral sleyx ually)
byg eneractoipniogeft s h egiern otywpiettshh aed ditoifco hna ngienst rodbuysc oemde
geneotpiecr a(teo.rmgsu. t,a ticornoss,s odvueprl,i caTthiiposrn o)c.ie ssr se peaftoeard
numboefrg enerautnitoainnils n diviidsbu oarwlnh icsha titshfipeee sr formcarnictee rion
(fitnefsusn ctsieobtyn t )h eex perimenter.
Evolutiroonbaortsyih casrm easn yo fc haractewriitoshtt hiaecprsp roascuhceahss ,
behaviorr-obbaostreiodcb slo,et a rnainnadgr ,t ifilciifael.
Behavior-BRaosbeodt ics
Theb ehaviorro-bboatsaiepcdps r oiasbc ahs uepdo tnh ied eoafp rovitdhireno gb woitt h
ac olleocfts iiomnpb laes biech aviTohregs l.o bbaelh avoifto hrre o beomte rgtehsr ough
thien terabcettiwoetneh nob saes biech avainotdrh see n vironimnwe hnitct hhr eo bfiontd s
its(eBlrfo o1k9s8 169,9 A9r;k i1n9 98B)a.s biech avairoierm sp lemeinnst eepda rsautbe­
parotfts h ceo ntsryoslt aenmda c oordinationi smr eecshpaonnfisosidrmbe ltee rmining
three lasttirveeno gfet ahcb he haviinop raa r timcoumleanrCt o.o rdinmaatybi eoa nc com­
plisbhyem de anosfc ompetoirtc iovoep ermaettihvoeId ncs o.m petmiettihvoeod nslo yn e
behavaifofret chtmeso tooru tpouftt h reo biontp aar timcoumlean(rts efeo,er x amptlhee,
subsumpbtaisoemnde thpordo pobsyeB dr oo1k9s8 6I)nc. o opermaettihvoedd isf ferent
behavmiaoyrc so ntrtiobas u itneg mloet oarc tiaolnt howuigtdhhi ffesrternetn( gstefheo ,r
examptlheme,e thboads oendb ehavifoursaivloi vnae ctsourm mat[iAornk 1i9n8 9]).
Int hiasp proaasci hne, v olutiroonbaorttyih ceesn ,v ironpmleanayct se ntrroalbley
determtihnreio nlogefe acbha sbiech avaitao nrgy i vteinm Meo.r eovtehres,sy es taermes
usuadlelsyi gtnherdo aut grhia anled r rporro cienws hsi cthhd ee sigmnoedri fitehcseu rrent
behaviaonrdps r ogresisnicvreeltayhs neeu mbeorfb asbiech aviwohrislt ee sttihneg
resulgtlionbbgae lh aviinto hree n vironHmoewnetv.ee vro,l utiroonbaortbyiyr c esl,y oinn g
ana utomeavtailcu aptrioocneu sssu,am lalkye asl arguesoref t hter iaanlde rrporro cess
descraibboevdMe o.r eovwehri,il net hbee haviora-pbparsoetadhc behr eakdooftw hne
desibreehda viinotsroi mpblaesrbi ech aviisao crcso mpliinsthueidtb iytv hedele ys igner,