From Animals to Animats 15

271 Pages·2018·46.939 MB·English

by  Poramate Manoonpong, Jørgen Christian Larsen, Xiaofeng Xiong, John Hallam, Jochen Triesch

Poramate Manoonpong
Jørgen Christian Larsen
Xiaofeng Xiong
John Hallam
Jochen Triesch (Eds.)
4
From Animals
9
9
0
1
I to Animats 15
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15th International Conference
on Simulation of Adaptive Behavior, SAB 2018
Frankfurt/Main, Germany, August 14–17, 2018, Proceedings
123
fi
Lecture Notes in Arti cial Intelligence 10994
Subseries of Lecture Notes in Computer Science
LNAI Series Editors
Randy Goebel
University of Alberta, Edmonton, Canada
Yuzuru Tanaka
Hokkaido University, Sapporo, Japan
Wolfgang Wahlster
DFKI and Saarland University, Saarbrücken, Germany
LNAI Founding Series Editor
Joerg Siekmann
DFKI and Saarland University, Saarbrücken, Germany
More information about this series at http://www.springer.com/series/1244
ø
Poramate Manoonpong J rgen Christian Larsen
(cid:129)
Xiaofeng Xiong John Hallam
(cid:129)
Jochen Triesch (Eds.)
From Animals
to Animats 15
15th International Conference
on Simulation of Adaptive Behavior, SAB 2018
–
Frankfurt/Main, Germany, August 14 17, 2018
Proceedings
123
Editors
PoramateManoonpong JohnHallam
University of SouthernDenmark University of SouthernDenmark
Odense Odense
Denmark Denmark
JørgenChristian Larsen JochenTriesch
University of SouthernDenmark FrankfurtInstitute for AdvancedStudies
Odense Frankfurt/Main
Denmark Germany
Xiaofeng Xiong
University of SouthernDenmark
Odense
Denmark
ISSN 0302-9743 ISSN 1611-3349 (electronic)
Lecture Notesin Artificial Intelligence
ISBN 978-3-319-97627-3 ISBN978-3-319-97628-0 (eBook)
https://doi.org/10.1007/978-3-319-97628-0
LibraryofCongressControlNumber:2018950092
LNCSSublibrary:SL7–ArtificialIntelligence
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Preface
This book contains the articles presented at the 15th International Conference on the
Simulation of Adaptive Behavior (SAB 2018), held at the Frankfurt Institute for
Advanced Studies, Germany, in August 2018.
The objective of the biennial SAB conference is to bring together researchers in
computer science, artificial intelligence, artificial life, control, robotics, neurosciences,
ethology,evolutionarybiology,andrelatedfieldsinordertofurtherourunderstanding
ofthebehaviorsandunderlyingmechanismsthatallownaturalandartificialanimalsto
adapt and survive in uncertain environments.
Adaptive behavior research is distinguished by its focus on the modeling and cre-
ation of complete animal-like systems, which – however simple at the moment – may
beoneofthebestroutestounderstandingintelligenceinnaturalandartificialsystems.
TheconferenceispartofalongseriesthatstartedwiththefirstSABconferenceheldin
Paris in September 1990, which was followed by conferences in Honolulu (1992),
Brighton(1994),CapeCod(1996),Zürich(1998),Paris(2000),Edinburgh(2002),Los
Angeles (2004), Rome (2006), Osaka (2008), Paris (2010), Odense (2012), Castellón
(2014), and Aberystwyth (2016). In 1992, MIT Press introduced the quarterly journal
Adaptive Behavior, now published by SAGE Publications. The establishment of the
International Society of Adaptive Behavior (ISAB) in 1995 further underlined the
emergence of adaptive behavior as a fully fledged scientific discipline. The present
proceedings provide a comprehensive and up-to-date resource for the future develop-
ment of this exciting field. The articles cover the main areas in animat research,
including the animat approach and methodology, perception and motor control, evo-
lution, learning, and adaptation, and collective and social behavior. The authors focus
on well-defined models, computer simulations, or robotic models that help to charac-
terize and compare various organizational principles, architectures, and adaptation
processes capable of including adaptive behavior in real animals or synthetic agents,
the animats.
Thisconferenceanditsproceedingswouldnotexistwithoutthesubstantialhelpofa
wide range of people. Foremost, we would like to thank the members of the Program
Committee, who thoughtfully reviewed all the submissions and provided detailed
suggestionsonhowtoimprovethearticles.Wearealsoindebtedtooursponsors.And,
once again, we warmly thank Jean Solé for the artistic conception of the SAB 2018
posterandtheproceedingscover.Weinvitereaderstoenjoyandprofitfromthepapers
in this book, and look forward to the next SAB conference in 2020.
August 2018 Poramate Manoonpong
Jørgen Christian Larsen
Xiaofeng Xiong
John Hallam
Jochen Triesch
Organization
From Animals to Animats 15, the 15th International Conference on the Simulation of
Adaptive Behavior (SAB 2018), was organized by Frankfurt Institute for Advanced
Studies, Germany, and the International Society for Adaptive Behavior (ISAB).
General Chairs
Jochen Triesch Frankfurt Institute for Advanced Studies, Frankfurt,
Germany
John Hallam University of Southern Denmark, Odense, Denmark
Program Chairs
Poramate Manoonpong University of Southern Denmark, Odense, Denmark
Jørgen Christian Larsen University of Southern Denmark, Odense, Denmark
Xiaofeng Xiong University of Southern Denmark, Odense, Denmark
Local Organization
Eike Schädel Frankfurt Institute for Advanced Studies, Frankfurt,
Germany
Natalie Schaworonkow Frankfurt Institute for Advanced Studies, Frankfurt,
Germany
Patricia Till Frankfurt Institute for Advanced Studies, Frankfurt,
Germany
Alexander Achenbach Frankfurt Institute for Advanced Studies, Frankfurt,
Germany
Program Committee
Alexandros Giagkos Aberystwyth University, Aberystwyth, UK
Elio Tuci Middlesex University, London, UK
Andrew Philippides University of Sussex, Brighton, UK
Keyan Ghazi-Zahedi Max Planck Institute for Mathematics in the Sciences,
Leipzig, Germany
Inaki Rano Ulster University, Coleraine, UK
Elmar Rückert Universität zu Lübeck, Lübeck, Germany
Jan-Matthias Braun University of Southern Denmark, Odense, Denmark
Swen Gaudl Falmouth University, Falmouth, UK
Valerio Apicella University of Sannio, Benevento, Italy
VIII Organization
Hugo Vieira Neto Federal University of Technology - Paraná (UTFPR),
Curitiba-PR, Brazil
Wenxiong Kang South China University of Technology, Guangzhou,
China
Neil Vaughan Bournemouth University, Dorset, UK
Benoît Girard Institute for Intelligent Systems and Robotics, Paris,
France
Andrei D. Robu University of Hertfordshire, Hatfield, UK
Frederic Alexandre Neurodegeneratives Diseases Institute, Bordeaux,
France
Patricia Shaw Aberystwyth University, Aberystwyth, UK
Bernd Porr University of Glasgow, Glasgow, UK
Cheng Hu University of Lincoln, Lincolnshire, UK
Alastair Channon Keele University Staffordshire, UK
Adam Stanton Keele University Staffordshire, UK
Zhenli Lu Changshu Institute of Technology, Changshu, China
Jean-Baptiste Mouret Inria, CNRS, Nancy, France
Anders Christensen University Institute of Lisbon (ISCTE-IUL), Lisbon,
Portugal
Aidong Zhang Chinese University of Hong Kong, Shenzhen, China
Tomas Kulvicius University of Göttingen, Göttingen, Germany
Peter Eckert École polytechnique fédérale de Lausanne, Lausanne,
Switzerland
Alex Sprowitz Max Planck Institute for Intelligent Systems, Stuttgart,
Germany
Boxing Wang Zhejiang University, Hangzhou, China
Mathias Thor University of Southern Denmark, Odense, Denmark
Gabriel Urbain Ghent University, Gent, Belgium
Francis Wyffels Ghent University, Gent, Belgium
Hongkai Li Nanjing University of Aeronautics and Astronautics,
Nanjing, China
Akio Ishiguro Tohoku University, Sendai, Japan
Hamza Khan University of Dundee, Dundee, UK
Ryohei Nakano Chubu University, Kasugai, Japan
Oleg Nikitin Russian Academy of Sciences, Khabarovsk, Russia
Angelo Arleo University Pierre&Marie Curie, Paris, France
Michael Spratling King’s College London, London, UK
Marti Sanchez-Fibla University Pompeu Fabra, Barcelona, Spain
Frederike Kubandt Goethe-Universität, Frankfurt am Main, Germany
Colin Johnson University of Kent, Kent, UK
Hiroyuki Iizuka Hokkaido University, Sapporo, Japan
Rotimi Ogunsakin AllianceManchesterBusinessSchool,Manchester,UK
Onofrio Gigliotta University of Naples Federico II, Napoli, Italy
Iñaki Fernández Pérez Université de Lorraine, LORIA,
Vandoeuvre-lès-Nancy Cedex, France
Muhanad Hayder University of Kerbala, Karbala, Iraq
Organization IX
Jan Paul Siebert University of Glasgow, Glasgow, UK
Silvio P. Sabatini University of Genoa, Genova, Italy
John Nassour Chemnitz University of Technology, Chemnitz,
Germany
Marko Bjelonic Swiss Federal Institute of Technology, Zürich,
Switzerland
Julien Diard French National Center for Scientific Research,
Grenoble, France
Shinkichi Inagaki Nagoya University, Meidai, Japan
Julien Serres Aix-Marseille University, Marseille, France
Francois Michaud Université de Sherbrooke, Quebec, Canada
Ruta Desai Carnegie Mellon University, Pittsburgh, USA
Shinya Aoi Kyoto University, Kyoto, Japan
Daniel Renjewski Technical University of Munich, Munich, Germany
Myra S. Wilson Aberystwyth University, Aberystwyth, UK
Sponsoring Institutions
International Society for Adaptive Behavior (ISAB)
Frankfurt Institute for Advanced Studies (FIAS)
University of Southern Denmark (SDU)
Webots (robot simulation) https://www.cyberbotics.com
Contents
Animat Approach and Methodology
Impact of Mobility Mode on Innovation Dissemination: An Agent-Based
Simulation Modeling. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
Sanad Al-Maskari, Kashif Zia, Arshad Muhammad,
and Dinesh Kumar Saini
A Probabilistic Interpretation of PID Controllers Using Active Inference . . . . 15
Manuel Baltieri and Christopher L. Buckley
Isotopic Inheritance: A Topological Approach to Genotype Transfer . . . . . . . 27
Olga Lukyanova and Oleg Nikitin
Perception and Motor Control
Towards Rich Motion Skills with the Lightweight Quadruped
Robot Serval - A Design, Control and Experimental Study. . . . . . . . . . . . . . 41
Peter Eckert, AnjaE. M.Schmerbauch,TomislavHorvat, Katja Söhnel,
Martin S. Fischer, Hartmut Witte, and Auke J. Ijspeert
Minimal Model for Body–Limb Coordination in Quadruped
High-Speed Running. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
Akira Fukuhara, Yukihiro Koizumi, Shura Suzuki, Takeshi Kano,
and Akio Ishiguro
An Active Efficient Coding Model of Binocular Vision Development
Under Normal and Abnormal Rearing Conditions. . . . . . . . . . . . . . . . . . . . 66
Lukas Klimmasch, Johann Schneider, Alexander Lelais,
Bertram E. Shi, and Jochen Triesch
Learning Hierarchical Integration of Foveal and Peripheral Vision
for Vergence Control by Active Efficient Coding . . . . . . . . . . . . . . . . . . . . 78
Zhetuo Zhao, Jochen Triesch, and Bertram E. Shi
Decentralized Control Scheme for Coupling Between Undulatory
and Peristaltic Locomotion. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90
Takeshi Kano, Naoki Matsui, and Akio Ishiguro
Calibration Method to Improve Transfer from Simulation
to Quadruped Robots. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102
Gabriel Urbain, Alexander Vandesompele, Francis Wyffels,
and Joni Dambre